Fawkes API  Fawkes Development Version
NaoJointStiffnessInterface.h
1 
2 /***************************************************************************
3  * NaoJointStiffnessInterface.h - Fawkes BlackBoard Interface - NaoJointStiffnessInterface
4  *
5  * Templated created: Thu Oct 12 10:49:19 2006
6  * Copyright 2008-2011 Tim Niemueller
7  *
8  ****************************************************************************/
9 
10 /* This program is free software; you can redistribute it and/or modify
11  * it under the terms of the GNU General Public License as published by
12  * the Free Software Foundation; either version 2 of the License, or
13  * (at your option) any later version. A runtime exception applies to
14  * this software (see LICENSE.GPL_WRE file mentioned below for details).
15  *
16  * This program is distributed in the hope that it will be useful,
17  * but WITHOUT ANY WARRANTY; without even the implied warranty of
18  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
19  * GNU Library General Public License for more details.
20  *
21  * Read the full text in the LICENSE.GPL_WRE file in the doc directory.
22  */
23 
24 #ifndef __INTERFACES_NAOJOINTSTIFFNESSINTERFACE_H_
25 #define __INTERFACES_NAOJOINTSTIFFNESSINTERFACE_H_
26 
27 #include <interface/interface.h>
28 #include <interface/message.h>
29 #include <interface/field_iterator.h>
30 
31 namespace fawkes {
32 
34 {
35  /// @cond INTERNALS
36  INTERFACE_MGMT_FRIENDS(NaoJointStiffnessInterface)
37  /// @endcond
38  public:
39  /* constants */
40 
41  private:
42  /** Internal data storage, do NOT modify! */
43  typedef struct __attribute__((packed)) {
44  int64_t timestamp_sec; /**< Interface Unix timestamp, seconds */
45  int64_t timestamp_usec; /**< Interface Unix timestamp, micro-seconds */
46  float head_yaw; /**< Head yaw */
47  float head_pitch; /**< Head pitch */
48  float l_shoulder_pitch; /**< Left shoulder pitch */
49  float l_shoulder_roll; /**< Left shoulder roll */
50  float l_elbow_yaw; /**< Left elbow yaw */
51  float l_elbow_roll; /**< Left elbow roll */
52  float l_wrist_yaw; /**< Left wrist yaw */
53  float l_hand; /**< Left hand */
54  float l_hip_yaw_pitch; /**< Left hip yaw pitch */
55  float l_hip_roll; /**< Left hip roll */
56  float l_hip_pitch; /**< Left hip pitch */
57  float l_knee_pitch; /**< Left knee pitch */
58  float l_ankle_pitch; /**< Left ankle pitch */
59  float l_ankle_roll; /**< Left ankle roll */
60  float r_shoulder_pitch; /**< Right shoulder pitch */
61  float r_shoulder_roll; /**< Right shoulder roll */
62  float r_elbow_yaw; /**< Right elbow yaw */
63  float r_elbow_roll; /**< Right elbow roll */
64  float r_wrist_yaw; /**< Right wrist yaw */
65  float r_hand; /**< Right hand */
66  float r_hip_yaw_pitch; /**< Right hip yaw pitch */
67  float r_hip_roll; /**< Right hip roll */
68  float r_hip_pitch; /**< Right hip pitch */
69  float r_knee_pitch; /**< Right knee pitch */
70  float r_ankle_pitch; /**< Right ankle pitch */
71  float r_ankle_roll; /**< Right ankle roll */
72  float minimum; /**<
73  Minimum stiffness of all joints. On the RoboCup version of the Nao this
74  ignores the hand and wrist values.
75  */
76  } NaoJointStiffnessInterface_data_t;
77 
78  NaoJointStiffnessInterface_data_t *data;
79 
80  public:
81  /* messages */
83  {
84  private:
85  /** Internal data storage, do NOT modify! */
86  typedef struct __attribute__((packed)) {
87  int64_t timestamp_sec; /**< Interface Unix timestamp, seconds */
88  int64_t timestamp_usec; /**< Interface Unix timestamp, micro-seconds */
89  uint32_t servo; /**<
90  A concatenated list of SERVO_* constants from the
91  NaoJointPositionInterface to define the servos that should
92  execute the movement. The list shall consist of binary or'ed
93  SERVO_* constants.
94  */
95  float value; /**< Servo value to set for servos. */
96  float time_sec; /**< Time when to reach the stiffness. */
97  } SetStiffnessMessage_data_t;
98 
99  SetStiffnessMessage_data_t *data;
100 
101  public:
102  SetStiffnessMessage(const uint32_t ini_servo, const float ini_value, const float ini_time_sec);
105 
107  /* Methods */
108  uint32_t servo() const;
109  void set_servo(const uint32_t new_servo);
110  size_t maxlenof_servo() const;
111  float value() 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;
118  };
119 
121  {
122  private:
123  /** Internal data storage, do NOT modify! */
124  typedef struct __attribute__((packed)) {
125  int64_t timestamp_sec; /**< Interface Unix timestamp, seconds */
126  int64_t timestamp_usec; /**< Interface Unix timestamp, micro-seconds */
127  float value; /**< Servo value to set for servos. */
128  float time_sec; /**< Time when to reach the stiffness. */
129  } SetBodyStiffnessMessage_data_t;
130 
131  SetBodyStiffnessMessage_data_t *data;
132 
133  public:
134  SetBodyStiffnessMessage(const float ini_value, const float ini_time_sec);
137 
139  /* Methods */
140  float value() const;
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;
147  };
148 
150  {
151  private:
152  /** Internal data storage, do NOT modify! */
153  typedef struct __attribute__((packed)) {
154  int64_t timestamp_sec; /**< Interface Unix timestamp, seconds */
155  int64_t timestamp_usec; /**< Interface Unix timestamp, micro-seconds */
156  float time_sec; /**< Time when to reach the stiffness. */
157  float head_yaw; /**< Head yaw */
158  float head_pitch; /**< Head pitch */
159  float l_shoulder_pitch; /**< Left shoulder pitch */
160  float l_shoulder_roll; /**< Left shoulder roll */
161  float l_elbow_yaw; /**< Left elbow yaw */
162  float l_elbow_roll; /**< Left elbow roll */
163  float l_wrist_yaw; /**< Left wrist yaw */
164  float l_hand; /**< Left hand */
165  float l_hip_yaw_pitch; /**< Left hip yaw pitch */
166  float l_hip_roll; /**< Left hip roll */
167  float l_hip_pitch; /**< Left hip pitch */
168  float l_knee_pitch; /**< Left knee pitch */
169  float l_ankle_pitch; /**< Left ankle pitch */
170  float l_ankle_roll; /**< Left ankle roll */
171  float r_shoulder_pitch; /**< Right shoulder pitch */
172  float r_shoulder_roll; /**< Right shoulder roll */
173  float r_elbow_yaw; /**< Right elbow yaw */
174  float r_wrist_yaw; /**< Right wrist yaw */
175  float r_hand; /**< Right hand */
176  float r_hip_yaw_pitch; /**< Right hip yaw pitch */
177  float r_hip_roll; /**< Right hip roll */
178  float r_hip_pitch; /**< Right hip pitch */
179  float r_knee_pitch; /**< Right knee pitch */
180  float r_ankle_pitch; /**< Right ankle pitch */
181  float r_ankle_roll; /**< Right ankle roll */
182  float r_elbow_roll; /**< Right elbow roll */
183  } SetStiffnessesMessage_data_t;
184 
185  SetStiffnessesMessage_data_t *data;
186 
187  public:
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);
191 
193  /* Methods */
194  float time_sec() const;
195  void set_time_sec(const float new_time_sec);
196  size_t maxlenof_time_sec() const;
197  float head_yaw() const;
198  void set_head_yaw(const float new_head_yaw);
199  size_t maxlenof_head_yaw() const;
200  float head_pitch() const;
201  void set_head_pitch(const float new_head_pitch);
202  size_t maxlenof_head_pitch() const;
203  float l_shoulder_pitch() const;
204  void set_l_shoulder_pitch(const float new_l_shoulder_pitch);
205  size_t maxlenof_l_shoulder_pitch() const;
206  float l_shoulder_roll() const;
207  void set_l_shoulder_roll(const float new_l_shoulder_roll);
208  size_t maxlenof_l_shoulder_roll() const;
209  float l_elbow_yaw() const;
210  void set_l_elbow_yaw(const float new_l_elbow_yaw);
211  size_t maxlenof_l_elbow_yaw() const;
212  float l_elbow_roll() const;
213  void set_l_elbow_roll(const float new_l_elbow_roll);
214  size_t maxlenof_l_elbow_roll() const;
215  float l_wrist_yaw() const;
216  void set_l_wrist_yaw(const float new_l_wrist_yaw);
217  size_t maxlenof_l_wrist_yaw() const;
218  float l_hand() const;
219  void set_l_hand(const float new_l_hand);
220  size_t maxlenof_l_hand() const;
221  float l_hip_yaw_pitch() const;
222  void set_l_hip_yaw_pitch(const float new_l_hip_yaw_pitch);
223  size_t maxlenof_l_hip_yaw_pitch() const;
224  float l_hip_roll() const;
225  void set_l_hip_roll(const float new_l_hip_roll);
226  size_t maxlenof_l_hip_roll() const;
227  float l_hip_pitch() const;
228  void set_l_hip_pitch(const float new_l_hip_pitch);
229  size_t maxlenof_l_hip_pitch() const;
230  float l_knee_pitch() const;
231  void set_l_knee_pitch(const float new_l_knee_pitch);
232  size_t maxlenof_l_knee_pitch() const;
233  float l_ankle_pitch() const;
234  void set_l_ankle_pitch(const float new_l_ankle_pitch);
235  size_t maxlenof_l_ankle_pitch() const;
236  float l_ankle_roll() const;
237  void set_l_ankle_roll(const float new_l_ankle_roll);
238  size_t maxlenof_l_ankle_roll() const;
239  float r_shoulder_pitch() const;
240  void set_r_shoulder_pitch(const float new_r_shoulder_pitch);
241  size_t maxlenof_r_shoulder_pitch() const;
242  float r_shoulder_roll() const;
243  void set_r_shoulder_roll(const float new_r_shoulder_roll);
244  size_t maxlenof_r_shoulder_roll() const;
245  float r_elbow_yaw() const;
246  void set_r_elbow_yaw(const float new_r_elbow_yaw);
247  size_t maxlenof_r_elbow_yaw() const;
248  float r_wrist_yaw() const;
249  void set_r_wrist_yaw(const float new_r_wrist_yaw);
250  size_t maxlenof_r_wrist_yaw() const;
251  float r_hand() const;
252  void set_r_hand(const float new_r_hand);
253  size_t maxlenof_r_hand() const;
254  float r_hip_yaw_pitch() const;
255  void set_r_hip_yaw_pitch(const float new_r_hip_yaw_pitch);
256  size_t maxlenof_r_hip_yaw_pitch() const;
257  float r_hip_roll() const;
258  void set_r_hip_roll(const float new_r_hip_roll);
259  size_t maxlenof_r_hip_roll() const;
260  float r_hip_pitch() const;
261  void set_r_hip_pitch(const float new_r_hip_pitch);
262  size_t maxlenof_r_hip_pitch() const;
263  float r_knee_pitch() const;
264  void set_r_knee_pitch(const float new_r_knee_pitch);
265  size_t maxlenof_r_knee_pitch() const;
266  float r_ankle_pitch() const;
267  void set_r_ankle_pitch(const float new_r_ankle_pitch);
268  size_t maxlenof_r_ankle_pitch() const;
269  float r_ankle_roll() const;
270  void set_r_ankle_roll(const float new_r_ankle_roll);
271  size_t maxlenof_r_ankle_roll() const;
272  float r_elbow_roll() const;
273  void set_r_elbow_roll(const float new_r_elbow_roll);
274  size_t maxlenof_r_elbow_roll() const;
275  virtual Message * clone() const;
276  };
277 
278  virtual bool message_valid(const Message *message) const;
279  private:
282 
283  public:
284  /* Methods */
285  float head_yaw() const;
286  void set_head_yaw(const float new_head_yaw);
287  size_t maxlenof_head_yaw() const;
288  float head_pitch() const;
289  void set_head_pitch(const float new_head_pitch);
290  size_t maxlenof_head_pitch() const;
291  float l_shoulder_pitch() const;
292  void set_l_shoulder_pitch(const float new_l_shoulder_pitch);
293  size_t maxlenof_l_shoulder_pitch() const;
294  float l_shoulder_roll() const;
295  void set_l_shoulder_roll(const float new_l_shoulder_roll);
296  size_t maxlenof_l_shoulder_roll() const;
297  float l_elbow_yaw() const;
298  void set_l_elbow_yaw(const float new_l_elbow_yaw);
299  size_t maxlenof_l_elbow_yaw() const;
300  float l_elbow_roll() const;
301  void set_l_elbow_roll(const float new_l_elbow_roll);
302  size_t maxlenof_l_elbow_roll() const;
303  float l_wrist_yaw() const;
304  void set_l_wrist_yaw(const float new_l_wrist_yaw);
305  size_t maxlenof_l_wrist_yaw() const;
306  float l_hand() const;
307  void set_l_hand(const float new_l_hand);
308  size_t maxlenof_l_hand() const;
309  float l_hip_yaw_pitch() const;
310  void set_l_hip_yaw_pitch(const float new_l_hip_yaw_pitch);
311  size_t maxlenof_l_hip_yaw_pitch() const;
312  float l_hip_roll() const;
313  void set_l_hip_roll(const float new_l_hip_roll);
314  size_t maxlenof_l_hip_roll() const;
315  float l_hip_pitch() const;
316  void set_l_hip_pitch(const float new_l_hip_pitch);
317  size_t maxlenof_l_hip_pitch() const;
318  float l_knee_pitch() const;
319  void set_l_knee_pitch(const float new_l_knee_pitch);
320  size_t maxlenof_l_knee_pitch() const;
321  float l_ankle_pitch() const;
322  void set_l_ankle_pitch(const float new_l_ankle_pitch);
323  size_t maxlenof_l_ankle_pitch() const;
324  float l_ankle_roll() const;
325  void set_l_ankle_roll(const float new_l_ankle_roll);
326  size_t maxlenof_l_ankle_roll() const;
327  float r_shoulder_pitch() const;
328  void set_r_shoulder_pitch(const float new_r_shoulder_pitch);
329  size_t maxlenof_r_shoulder_pitch() const;
330  float r_shoulder_roll() const;
331  void set_r_shoulder_roll(const float new_r_shoulder_roll);
332  size_t maxlenof_r_shoulder_roll() const;
333  float r_elbow_yaw() const;
334  void set_r_elbow_yaw(const float new_r_elbow_yaw);
335  size_t maxlenof_r_elbow_yaw() const;
336  float r_elbow_roll() const;
337  void set_r_elbow_roll(const float new_r_elbow_roll);
338  size_t maxlenof_r_elbow_roll() const;
339  float r_wrist_yaw() const;
340  void set_r_wrist_yaw(const float new_r_wrist_yaw);
341  size_t maxlenof_r_wrist_yaw() const;
342  float r_hand() const;
343  void set_r_hand(const float new_r_hand);
344  size_t maxlenof_r_hand() const;
345  float r_hip_yaw_pitch() const;
346  void set_r_hip_yaw_pitch(const float new_r_hip_yaw_pitch);
347  size_t maxlenof_r_hip_yaw_pitch() const;
348  float r_hip_roll() const;
349  void set_r_hip_roll(const float new_r_hip_roll);
350  size_t maxlenof_r_hip_roll() const;
351  float r_hip_pitch() const;
352  void set_r_hip_pitch(const float new_r_hip_pitch);
353  size_t maxlenof_r_hip_pitch() const;
354  float r_knee_pitch() const;
355  void set_r_knee_pitch(const float new_r_knee_pitch);
356  size_t maxlenof_r_knee_pitch() const;
357  float r_ankle_pitch() const;
358  void set_r_ankle_pitch(const float new_r_ankle_pitch);
359  size_t maxlenof_r_ankle_pitch() const;
360  float r_ankle_roll() const;
361  void set_r_ankle_roll(const float new_r_ankle_roll);
362  size_t maxlenof_r_ankle_roll() const;
363  float minimum() const;
364  void set_minimum(const float new_minimum);
365  size_t maxlenof_minimum() const;
366  virtual Message * create_message(const char *type) const;
367 
368  virtual void copy_values(const Interface *other);
369  virtual const char * enum_tostring(const char *enumtype, int val) const;
370 
371 };
372 
373 } // end namespace fawkes
374 
375 #endif
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.
Definition: message.h:44
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.
Definition: interface.h:79
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.
Definition: interface.cpp:651
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.
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 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.