24 #ifndef __INTERFACES_LOCALIZATIONINTERFACE_H_ 25 #define __INTERFACES_LOCALIZATIONINTERFACE_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;
47 } LocalizationInterface_data_t;
49 LocalizationInterface_data_t *data;
57 typedef struct __attribute__((packed)) {
58 int64_t timestamp_sec;
59 int64_t timestamp_usec;
66 double translation[3];
69 double covariance[36];
75 } SetInitialPoseMessage_data_t;
77 SetInitialPoseMessage_data_t *data;
80 SetInitialPoseMessage(
const char * ini_frame,
const double * ini_rotation,
const double * ini_translation,
const double * ini_covariance);
87 void set_frame(
const char * new_frame);
88 size_t maxlenof_frame()
const;
89 double * rotation()
const;
90 double rotation(
unsigned int index)
const;
91 void set_rotation(
unsigned int index,
const double new_rotation);
92 void set_rotation(
const double * new_rotation);
93 size_t maxlenof_rotation()
const;
94 double * translation()
const;
95 double translation(
unsigned int index)
const;
96 void set_translation(
unsigned int index,
const double new_translation);
97 void set_translation(
const double * new_translation);
98 size_t maxlenof_translation()
const;
99 double * covariance()
const;
100 double covariance(
unsigned int index)
const;
101 void set_covariance(
unsigned int index,
const double new_covariance);
102 void set_covariance(
const double * new_covariance);
103 size_t maxlenof_covariance()
const;
104 virtual Message * clone()
const;
115 void set_map(
const char * new_map);
120 virtual const char *
enum_tostring(
const char *enumtype,
int val)
const;
LocalizationInterface Fawkes BlackBoard Interface.
Base class for all messages passed through interfaces in Fawkes BlackBoard.
virtual const char * enum_tostring(const char *enumtype, int val) const
Convert arbitrary enum value to string.
Fawkes library namespace.
void set_map(const char *new_map)
Set map value.
size_t maxlenof_map() const
Get maximum length of map value.
Base class for all Fawkes BlackBoard interfaces.
virtual Message * create_message(const char *type) const
Create message based on type name.
const char * type() const
Get type of interface.
SetInitialPoseMessage Fawkes BlackBoard Interface Message.
virtual void copy_values(const Interface *other)
Copy values from other interface.
char * map() const
Get map value.
virtual bool message_valid(const Message *message) const
Check if message is valid and can be enqueued.