24 #ifndef __INTERFACES_NAOJOINTSTIFFNESSINTERFACE_H_ 25 #define __INTERFACES_NAOJOINTSTIFFNESSINTERFACE_H_ 27 #include <interface/interface.h> 28 #include <interface/message.h> 29 #include <interface/field_iterator.h> 43 typedef struct __attribute__((packed)) {
44 int64_t timestamp_sec;
45 int64_t timestamp_usec;
76 } NaoJointStiffnessInterface_data_t;
78 NaoJointStiffnessInterface_data_t *data;
86 typedef struct __attribute__((packed)) {
87 int64_t timestamp_sec;
88 int64_t timestamp_usec;
97 } SetStiffnessMessage_data_t;
99 SetStiffnessMessage_data_t *data;
102 SetStiffnessMessage(
const uint32_t ini_servo,
const float ini_value,
const float ini_time_sec);
108 uint32_t servo()
const;
109 void set_servo(
const uint32_t new_servo);
110 size_t maxlenof_servo()
const;
112 void set_value(
const float new_value);
113 size_t maxlenof_value()
const;
114 float time_sec()
const;
115 void set_time_sec(
const float new_time_sec);
116 size_t maxlenof_time_sec()
const;
117 virtual Message * clone()
const;
124 typedef struct __attribute__((packed)) {
125 int64_t timestamp_sec;
126 int64_t timestamp_usec;
129 } SetBodyStiffnessMessage_data_t;
131 SetBodyStiffnessMessage_data_t *data;
141 void set_value(
const float new_value);
142 size_t maxlenof_value()
const;
143 float time_sec()
const;
144 void set_time_sec(
const float new_time_sec);
145 size_t maxlenof_time_sec()
const;
146 virtual Message * clone()
const;
153 typedef struct __attribute__((packed)) {
154 int64_t timestamp_sec;
155 int64_t timestamp_usec;
183 } SetStiffnessesMessage_data_t;
185 SetStiffnessesMessage_data_t *data;
188 SetStiffnessesMessage(
const float ini_time_sec,
const float ini_head_yaw,
const float ini_head_pitch,
const float ini_l_shoulder_pitch,
const float ini_l_shoulder_roll,
const float ini_l_elbow_yaw,
const float ini_l_elbow_roll,
const float ini_l_wrist_yaw,
const float ini_l_hand,
const float ini_l_hip_yaw_pitch,
const float ini_l_hip_roll,
const float ini_l_hip_pitch,
const float ini_l_knee_pitch,
const float ini_l_ankle_pitch,
const float ini_l_ankle_roll,
const float ini_r_shoulder_pitch,
const float ini_r_shoulder_roll,
const float ini_r_elbow_yaw,
const float ini_r_wrist_yaw,
const float ini_r_hand,
const float ini_r_hip_yaw_pitch,
const float ini_r_hip_roll,
const float ini_r_hip_pitch,
const float ini_r_knee_pitch,
const float ini_r_ankle_pitch,
const float ini_r_ankle_roll,
const float ini_r_elbow_roll);
194 float time_sec()
const;
195 void set_time_sec(
const float new_time_sec);
196 size_t maxlenof_time_sec()
const;
275 virtual Message * clone()
const;
369 virtual const char *
enum_tostring(
const char *enumtype,
int val)
const;
float head_pitch() const
Get head_pitch value.
size_t maxlenof_r_elbow_roll() const
Get maximum length of r_elbow_roll value.
size_t maxlenof_r_wrist_yaw() const
Get maximum length of r_wrist_yaw value.
void set_r_elbow_roll(const float new_r_elbow_roll)
Set r_elbow_roll value.
void set_r_hip_pitch(const float new_r_hip_pitch)
Set r_hip_pitch value.
size_t maxlenof_l_elbow_roll() const
Get maximum length of l_elbow_roll value.
Base class for all messages passed through interfaces in Fawkes BlackBoard.
size_t maxlenof_l_hip_roll() const
Get maximum length of l_hip_roll value.
size_t maxlenof_l_wrist_yaw() const
Get maximum length of l_wrist_yaw value.
size_t maxlenof_minimum() const
Get maximum length of minimum value.
size_t maxlenof_r_knee_pitch() const
Get maximum length of r_knee_pitch value.
void set_l_hip_roll(const float new_l_hip_roll)
Set l_hip_roll value.
size_t maxlenof_l_ankle_pitch() const
Get maximum length of l_ankle_pitch value.
virtual bool message_valid(const Message *message) const
Check if message is valid and can be enqueued.
void set_l_ankle_pitch(const float new_l_ankle_pitch)
Set l_ankle_pitch value.
float r_elbow_yaw() const
Get r_elbow_yaw value.
float l_hip_pitch() const
Get l_hip_pitch value.
size_t maxlenof_r_shoulder_roll() const
Get maximum length of r_shoulder_roll value.
Fawkes library namespace.
float l_wrist_yaw() const
Get l_wrist_yaw value.
void set_r_hip_yaw_pitch(const float new_r_hip_yaw_pitch)
Set r_hip_yaw_pitch value.
float head_yaw() const
Get head_yaw value.
float l_hip_yaw_pitch() const
Get l_hip_yaw_pitch value.
size_t maxlenof_l_shoulder_pitch() const
Get maximum length of l_shoulder_pitch value.
void set_r_shoulder_pitch(const float new_r_shoulder_pitch)
Set r_shoulder_pitch value.
SetBodyStiffnessMessage Fawkes BlackBoard Interface Message.
void set_head_yaw(const float new_head_yaw)
Set head_yaw value.
Base class for all Fawkes BlackBoard interfaces.
NaoJointStiffnessInterface Fawkes BlackBoard Interface.
float minimum() const
Get minimum value.
size_t maxlenof_l_hip_yaw_pitch() const
Get maximum length of l_hip_yaw_pitch value.
size_t maxlenof_l_ankle_roll() const
Get maximum length of l_ankle_roll value.
virtual const char * enum_tostring(const char *enumtype, int val) const
Convert arbitrary enum value to string.
void set_l_hip_yaw_pitch(const float new_l_hip_yaw_pitch)
Set l_hip_yaw_pitch value.
float r_ankle_pitch() const
Get r_ankle_pitch value.
float r_hip_roll() const
Get r_hip_roll value.
float l_elbow_yaw() const
Get l_elbow_yaw value.
void set_l_hip_pitch(const float new_l_hip_pitch)
Set l_hip_pitch value.
float r_shoulder_pitch() const
Get r_shoulder_pitch value.
size_t maxlenof_r_elbow_yaw() const
Get maximum length of r_elbow_yaw value.
void set_r_hand(const float new_r_hand)
Set r_hand value.
void set_r_elbow_yaw(const float new_r_elbow_yaw)
Set r_elbow_yaw value.
const char * type() const
Get type of interface.
float r_elbow_roll() const
Get r_elbow_roll value.
size_t maxlenof_r_hip_yaw_pitch() const
Get maximum length of r_hip_yaw_pitch value.
void set_r_shoulder_roll(const float new_r_shoulder_roll)
Set r_shoulder_roll value.
size_t maxlenof_l_elbow_yaw() const
Get maximum length of l_elbow_yaw value.
float r_wrist_yaw() const
Get r_wrist_yaw value.
size_t maxlenof_r_hip_roll() const
Get maximum length of r_hip_roll value.
float l_elbow_roll() const
Get l_elbow_roll value.
float r_hand() const
Get r_hand value.
size_t maxlenof_head_pitch() const
Get maximum length of head_pitch value.
void set_r_ankle_pitch(const float new_r_ankle_pitch)
Set r_ankle_pitch value.
size_t maxlenof_l_knee_pitch() const
Get maximum length of l_knee_pitch value.
float l_ankle_pitch() const
Get l_ankle_pitch value.
size_t maxlenof_r_hand() const
Get maximum length of r_hand value.
float r_knee_pitch() const
Get r_knee_pitch value.
virtual Message * create_message(const char *type) const
Create message based on type name.
SetStiffnessesMessage Fawkes BlackBoard Interface Message.
void set_r_wrist_yaw(const float new_r_wrist_yaw)
Set r_wrist_yaw value.
size_t maxlenof_r_ankle_pitch() const
Get maximum length of r_ankle_pitch value.
size_t maxlenof_l_shoulder_roll() const
Get maximum length of l_shoulder_roll value.
void set_l_knee_pitch(const float new_l_knee_pitch)
Set l_knee_pitch value.
size_t maxlenof_r_hip_pitch() const
Get maximum length of r_hip_pitch value.
float l_knee_pitch() const
Get l_knee_pitch value.
float l_ankle_roll() const
Get l_ankle_roll value.
float r_ankle_roll() const
Get r_ankle_roll value.
void set_l_wrist_yaw(const float new_l_wrist_yaw)
Set l_wrist_yaw value.
void set_head_pitch(const float new_head_pitch)
Set head_pitch value.
float r_hip_pitch() const
Get r_hip_pitch value.
float l_shoulder_pitch() const
Get l_shoulder_pitch value.
size_t maxlenof_r_ankle_roll() const
Get maximum length of r_ankle_roll value.
size_t maxlenof_l_hip_pitch() const
Get maximum length of l_hip_pitch value.
void set_r_knee_pitch(const float new_r_knee_pitch)
Set r_knee_pitch value.
float r_shoulder_roll() const
Get r_shoulder_roll value.
void set_l_shoulder_pitch(const float new_l_shoulder_pitch)
Set l_shoulder_pitch value.
void set_l_elbow_roll(const float new_l_elbow_roll)
Set l_elbow_roll value.
size_t maxlenof_head_yaw() const
Get maximum length of head_yaw value.
virtual void copy_values(const Interface *other)
Copy values from other interface.
float l_hand() const
Get l_hand value.
float r_hip_yaw_pitch() const
Get r_hip_yaw_pitch value.
size_t maxlenof_l_hand() const
Get maximum length of l_hand value.
float l_hip_roll() const
Get l_hip_roll value.
void set_r_hip_roll(const float new_r_hip_roll)
Set r_hip_roll value.
void set_l_elbow_yaw(const float new_l_elbow_yaw)
Set l_elbow_yaw value.
void set_r_ankle_roll(const float new_r_ankle_roll)
Set r_ankle_roll value.
void set_l_hand(const float new_l_hand)
Set l_hand value.
void set_minimum(const float new_minimum)
Set minimum value.
SetStiffnessMessage Fawkes BlackBoard Interface Message.
float l_shoulder_roll() const
Get l_shoulder_roll value.
size_t maxlenof_r_shoulder_pitch() const
Get maximum length of r_shoulder_pitch value.
void set_l_shoulder_roll(const float new_l_shoulder_roll)
Set l_shoulder_roll value.
void set_l_ankle_roll(const float new_l_ankle_roll)
Set l_ankle_roll value.