24 #ifndef __INTERFACES_JACOBIMANUALINTERFACE_H_ 25 #define __INTERFACES_JACOBIMANUALINTERFACE_H_ 27 #include <interface/interface.h> 28 #include <interface/message.h> 29 #include <interface/field_iterator.h> 47 typedef struct __attribute__((packed)) {
48 int64_t timestamp_sec;
49 int64_t timestamp_usec;
59 } JacoBimanualInterface_data_t;
61 JacoBimanualInterface_data_t *data;
69 typedef struct __attribute__((packed)) {
70 int64_t timestamp_sec;
71 int64_t timestamp_usec;
84 } CartesianGotoMessage_data_t;
86 CartesianGotoMessage_data_t *data;
89 CartesianGotoMessage(
const float ini_l_x,
const float ini_l_y,
const float ini_l_z,
const float ini_l_e1,
const float ini_l_e2,
const float ini_l_e3,
const float ini_r_x,
const float ini_r_y,
const float ini_r_z,
const float ini_r_e1,
const float ini_r_e2,
const float ini_r_e3);
96 void set_l_x(
const float new_l_x);
97 size_t maxlenof_l_x()
const;
99 void set_l_y(
const float new_l_y);
100 size_t maxlenof_l_y()
const;
102 void set_l_z(
const float new_l_z);
103 size_t maxlenof_l_z()
const;
105 void set_l_e1(
const float new_l_e1);
106 size_t maxlenof_l_e1()
const;
108 void set_l_e2(
const float new_l_e2);
109 size_t maxlenof_l_e2()
const;
111 void set_l_e3(
const float new_l_e3);
112 size_t maxlenof_l_e3()
const;
114 void set_r_x(
const float new_r_x);
115 size_t maxlenof_r_x()
const;
117 void set_r_y(
const float new_r_y);
118 size_t maxlenof_r_y()
const;
120 void set_r_z(
const float new_r_z);
121 size_t maxlenof_r_z()
const;
123 void set_r_e1(
const float new_r_e1);
124 size_t maxlenof_r_e1()
const;
126 void set_r_e2(
const float new_r_e2);
127 size_t maxlenof_r_e2()
const;
129 void set_r_e3(
const float new_r_e3);
130 size_t maxlenof_r_e3()
const;
131 virtual Message * clone()
const;
138 typedef struct __attribute__((packed)) {
139 int64_t timestamp_sec;
140 int64_t timestamp_usec;
147 } MoveGripperMessage_data_t;
149 MoveGripperMessage_data_t *data;
152 MoveGripperMessage(
const float ini_l_finger1,
const float ini_l_finger2,
const float ini_l_finger3,
const float ini_r_finger1,
const float ini_r_finger2,
const float ini_r_finger3);
158 float l_finger1()
const;
159 void set_l_finger1(
const float new_l_finger1);
160 size_t maxlenof_l_finger1()
const;
161 float l_finger2()
const;
162 void set_l_finger2(
const float new_l_finger2);
163 size_t maxlenof_l_finger2()
const;
164 float l_finger3()
const;
165 void set_l_finger3(
const float new_l_finger3);
166 size_t maxlenof_l_finger3()
const;
167 float r_finger1()
const;
168 void set_r_finger1(
const float new_r_finger1);
169 size_t maxlenof_r_finger1()
const;
170 float r_finger2()
const;
171 void set_r_finger2(
const float new_r_finger2);
172 size_t maxlenof_r_finger2()
const;
173 float r_finger3()
const;
174 void set_r_finger3(
const float new_r_finger3);
175 size_t maxlenof_r_finger3()
const;
176 virtual Message * clone()
const;
183 typedef struct __attribute__((packed)) {
184 int64_t timestamp_sec;
185 int64_t timestamp_usec;
187 } SetPlannerParamsMessage_data_t;
189 SetPlannerParamsMessage_data_t *data;
198 char * params()
const;
199 void set_params(
const char * new_params);
200 size_t maxlenof_params()
const;
201 virtual Message * clone()
const;
208 typedef struct __attribute__((packed)) {
209 int64_t timestamp_sec;
210 int64_t timestamp_usec;
213 } SetConstrainedMessage_data_t;
215 SetConstrainedMessage_data_t *data;
227 virtual Message * clone()
const;
237 uint32_t
msgid()
const;
238 void set_msgid(
const uint32_t new_msgid);
252 virtual const char *
enum_tostring(
const char *enumtype,
int val)
const;
static const uint32_t ERROR_NONE
ERROR_NONE constant.
bool is_final() const
Get final value.
MoveGripperMessage Fawkes BlackBoard Interface Message.
void set_final(const bool new_final)
Set final value.
Base class for all messages passed through interfaces in Fawkes BlackBoard.
Fawkes library namespace.
size_t maxlenof_error_code() const
Get maximum length of error_code value.
JacoBimanualInterface Fawkes BlackBoard Interface.
size_t maxlenof_constrained() const
Get maximum length of constrained value.
SetPlannerParamsMessage Fawkes BlackBoard Interface Message.
Base class for all Fawkes BlackBoard interfaces.
virtual bool message_valid(const Message *message) const
Check if message is valid and can be enqueued.
uint32_t error_code() const
Get error_code value.
size_t maxlenof_final() const
Get maximum length of final value.
bool is_constrained() const
Get constrained value.
void set_constrained(const bool new_constrained)
Set constrained value.
static const uint32_t ERROR_NO_IK
ERROR_NO_IK constant.
SetConstrainedMessage Fawkes BlackBoard Interface Message.
const char * type() const
Get type of interface.
virtual const char * enum_tostring(const char *enumtype, int val) const
Convert arbitrary enum value to string.
uint32_t msgid() const
Get msgid value.
virtual Message * create_message(const char *type) const
Create message based on type name.
static const uint32_t ERROR_UNSPECIFIC
ERROR_UNSPECIFIC constant.
size_t maxlenof_msgid() const
Get maximum length of msgid value.
void set_error_code(const uint32_t new_error_code)
Set error_code value.
virtual void copy_values(const Interface *other)
Copy values from other interface.
CartesianGotoMessage Fawkes BlackBoard Interface Message.
static const uint32_t ERROR_PLANNING
ERROR_PLANNING constant.
void set_msgid(const uint32_t new_msgid)
Set msgid value.