Fawkes API  Fawkes Development Version
NaoJointStiffnessInterface.cpp
1 
2 /***************************************************************************
3  * NaoJointStiffnessInterface.cpp - 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 #include <interfaces/NaoJointStiffnessInterface.h>
25 
26 #include <core/exceptions/software.h>
27 
28 #include <map>
29 #include <string>
30 #include <cstring>
31 #include <cstdlib>
32 
33 namespace fawkes {
34 
35 /** @class NaoJointStiffnessInterface <interfaces/NaoJointStiffnessInterface.h>
36  * NaoJointStiffnessInterface Fawkes BlackBoard Interface.
37  *
38  This interface provides access to Nao joint stiffness.
39 
40  * @ingroup FawkesInterfaces
41  */
42 
43 
44 
45 /** Constructor */
46 NaoJointStiffnessInterface::NaoJointStiffnessInterface() : Interface()
47 {
48  data_size = sizeof(NaoJointStiffnessInterface_data_t);
49  data_ptr = malloc(data_size);
50  data = (NaoJointStiffnessInterface_data_t *)data_ptr;
51  data_ts = (interface_data_ts_t *)data_ptr;
52  memset(data_ptr, 0, data_size);
53  add_fieldinfo(IFT_FLOAT, "head_yaw", 1, &data->head_yaw);
54  add_fieldinfo(IFT_FLOAT, "head_pitch", 1, &data->head_pitch);
55  add_fieldinfo(IFT_FLOAT, "l_shoulder_pitch", 1, &data->l_shoulder_pitch);
56  add_fieldinfo(IFT_FLOAT, "l_shoulder_roll", 1, &data->l_shoulder_roll);
57  add_fieldinfo(IFT_FLOAT, "l_elbow_yaw", 1, &data->l_elbow_yaw);
58  add_fieldinfo(IFT_FLOAT, "l_elbow_roll", 1, &data->l_elbow_roll);
59  add_fieldinfo(IFT_FLOAT, "l_wrist_yaw", 1, &data->l_wrist_yaw);
60  add_fieldinfo(IFT_FLOAT, "l_hand", 1, &data->l_hand);
61  add_fieldinfo(IFT_FLOAT, "l_hip_yaw_pitch", 1, &data->l_hip_yaw_pitch);
62  add_fieldinfo(IFT_FLOAT, "l_hip_roll", 1, &data->l_hip_roll);
63  add_fieldinfo(IFT_FLOAT, "l_hip_pitch", 1, &data->l_hip_pitch);
64  add_fieldinfo(IFT_FLOAT, "l_knee_pitch", 1, &data->l_knee_pitch);
65  add_fieldinfo(IFT_FLOAT, "l_ankle_pitch", 1, &data->l_ankle_pitch);
66  add_fieldinfo(IFT_FLOAT, "l_ankle_roll", 1, &data->l_ankle_roll);
67  add_fieldinfo(IFT_FLOAT, "r_shoulder_pitch", 1, &data->r_shoulder_pitch);
68  add_fieldinfo(IFT_FLOAT, "r_shoulder_roll", 1, &data->r_shoulder_roll);
69  add_fieldinfo(IFT_FLOAT, "r_elbow_yaw", 1, &data->r_elbow_yaw);
70  add_fieldinfo(IFT_FLOAT, "r_elbow_roll", 1, &data->r_elbow_roll);
71  add_fieldinfo(IFT_FLOAT, "r_wrist_yaw", 1, &data->r_wrist_yaw);
72  add_fieldinfo(IFT_FLOAT, "r_hand", 1, &data->r_hand);
73  add_fieldinfo(IFT_FLOAT, "r_hip_yaw_pitch", 1, &data->r_hip_yaw_pitch);
74  add_fieldinfo(IFT_FLOAT, "r_hip_roll", 1, &data->r_hip_roll);
75  add_fieldinfo(IFT_FLOAT, "r_hip_pitch", 1, &data->r_hip_pitch);
76  add_fieldinfo(IFT_FLOAT, "r_knee_pitch", 1, &data->r_knee_pitch);
77  add_fieldinfo(IFT_FLOAT, "r_ankle_pitch", 1, &data->r_ankle_pitch);
78  add_fieldinfo(IFT_FLOAT, "r_ankle_roll", 1, &data->r_ankle_roll);
79  add_fieldinfo(IFT_FLOAT, "minimum", 1, &data->minimum);
80  add_messageinfo("SetStiffnessMessage");
81  add_messageinfo("SetBodyStiffnessMessage");
82  add_messageinfo("SetStiffnessesMessage");
83  unsigned char tmp_hash[] = {0x29, 0x35, 0x74, 0x2f, 0x4e, 0x93, 0x53, 0xc4, 0x28, 0x56, 0xc8, 0x4a, 0x66, 0x81, 0xd6, 0x6d};
84  set_hash(tmp_hash);
85 }
86 
87 /** Destructor */
88 NaoJointStiffnessInterface::~NaoJointStiffnessInterface()
89 {
90  free(data_ptr);
91 }
92 /* Methods */
93 /** Get head_yaw value.
94  * Head yaw
95  * @return head_yaw value
96  */
97 float
99 {
100  return data->head_yaw;
101 }
102 
103 /** Get maximum length of head_yaw value.
104  * @return length of head_yaw value, can be length of the array or number of
105  * maximum number of characters for a string
106  */
107 size_t
109 {
110  return 1;
111 }
112 
113 /** Set head_yaw value.
114  * Head yaw
115  * @param new_head_yaw new head_yaw value
116  */
117 void
119 {
120  data->head_yaw = new_head_yaw;
121  data_changed = true;
122 }
123 
124 /** Get head_pitch value.
125  * Head pitch
126  * @return head_pitch value
127  */
128 float
130 {
131  return data->head_pitch;
132 }
133 
134 /** Get maximum length of head_pitch value.
135  * @return length of head_pitch value, can be length of the array or number of
136  * maximum number of characters for a string
137  */
138 size_t
140 {
141  return 1;
142 }
143 
144 /** Set head_pitch value.
145  * Head pitch
146  * @param new_head_pitch new head_pitch value
147  */
148 void
150 {
151  data->head_pitch = new_head_pitch;
152  data_changed = true;
153 }
154 
155 /** Get l_shoulder_pitch value.
156  * Left shoulder pitch
157  * @return l_shoulder_pitch value
158  */
159 float
161 {
162  return data->l_shoulder_pitch;
163 }
164 
165 /** Get maximum length of l_shoulder_pitch value.
166  * @return length of l_shoulder_pitch value, can be length of the array or number of
167  * maximum number of characters for a string
168  */
169 size_t
171 {
172  return 1;
173 }
174 
175 /** Set l_shoulder_pitch value.
176  * Left shoulder pitch
177  * @param new_l_shoulder_pitch new l_shoulder_pitch value
178  */
179 void
180 NaoJointStiffnessInterface::set_l_shoulder_pitch(const float new_l_shoulder_pitch)
181 {
182  data->l_shoulder_pitch = new_l_shoulder_pitch;
183  data_changed = true;
184 }
185 
186 /** Get l_shoulder_roll value.
187  * Left shoulder roll
188  * @return l_shoulder_roll value
189  */
190 float
192 {
193  return data->l_shoulder_roll;
194 }
195 
196 /** Get maximum length of l_shoulder_roll value.
197  * @return length of l_shoulder_roll value, can be length of the array or number of
198  * maximum number of characters for a string
199  */
200 size_t
202 {
203  return 1;
204 }
205 
206 /** Set l_shoulder_roll value.
207  * Left shoulder roll
208  * @param new_l_shoulder_roll new l_shoulder_roll value
209  */
210 void
211 NaoJointStiffnessInterface::set_l_shoulder_roll(const float new_l_shoulder_roll)
212 {
213  data->l_shoulder_roll = new_l_shoulder_roll;
214  data_changed = true;
215 }
216 
217 /** Get l_elbow_yaw value.
218  * Left elbow yaw
219  * @return l_elbow_yaw value
220  */
221 float
223 {
224  return data->l_elbow_yaw;
225 }
226 
227 /** Get maximum length of l_elbow_yaw value.
228  * @return length of l_elbow_yaw value, can be length of the array or number of
229  * maximum number of characters for a string
230  */
231 size_t
233 {
234  return 1;
235 }
236 
237 /** Set l_elbow_yaw value.
238  * Left elbow yaw
239  * @param new_l_elbow_yaw new l_elbow_yaw value
240  */
241 void
243 {
244  data->l_elbow_yaw = new_l_elbow_yaw;
245  data_changed = true;
246 }
247 
248 /** Get l_elbow_roll value.
249  * Left elbow roll
250  * @return l_elbow_roll value
251  */
252 float
254 {
255  return data->l_elbow_roll;
256 }
257 
258 /** Get maximum length of l_elbow_roll value.
259  * @return length of l_elbow_roll value, can be length of the array or number of
260  * maximum number of characters for a string
261  */
262 size_t
264 {
265  return 1;
266 }
267 
268 /** Set l_elbow_roll value.
269  * Left elbow roll
270  * @param new_l_elbow_roll new l_elbow_roll value
271  */
272 void
273 NaoJointStiffnessInterface::set_l_elbow_roll(const float new_l_elbow_roll)
274 {
275  data->l_elbow_roll = new_l_elbow_roll;
276  data_changed = true;
277 }
278 
279 /** Get l_wrist_yaw value.
280  * Left wrist yaw
281  * @return l_wrist_yaw value
282  */
283 float
285 {
286  return data->l_wrist_yaw;
287 }
288 
289 /** Get maximum length of l_wrist_yaw value.
290  * @return length of l_wrist_yaw value, can be length of the array or number of
291  * maximum number of characters for a string
292  */
293 size_t
295 {
296  return 1;
297 }
298 
299 /** Set l_wrist_yaw value.
300  * Left wrist yaw
301  * @param new_l_wrist_yaw new l_wrist_yaw value
302  */
303 void
305 {
306  data->l_wrist_yaw = new_l_wrist_yaw;
307  data_changed = true;
308 }
309 
310 /** Get l_hand value.
311  * Left hand
312  * @return l_hand value
313  */
314 float
316 {
317  return data->l_hand;
318 }
319 
320 /** Get maximum length of l_hand value.
321  * @return length of l_hand value, can be length of the array or number of
322  * maximum number of characters for a string
323  */
324 size_t
326 {
327  return 1;
328 }
329 
330 /** Set l_hand value.
331  * Left hand
332  * @param new_l_hand new l_hand value
333  */
334 void
336 {
337  data->l_hand = new_l_hand;
338  data_changed = true;
339 }
340 
341 /** Get l_hip_yaw_pitch value.
342  * Left hip yaw pitch
343  * @return l_hip_yaw_pitch value
344  */
345 float
347 {
348  return data->l_hip_yaw_pitch;
349 }
350 
351 /** Get maximum length of l_hip_yaw_pitch value.
352  * @return length of l_hip_yaw_pitch value, can be length of the array or number of
353  * maximum number of characters for a string
354  */
355 size_t
357 {
358  return 1;
359 }
360 
361 /** Set l_hip_yaw_pitch value.
362  * Left hip yaw pitch
363  * @param new_l_hip_yaw_pitch new l_hip_yaw_pitch value
364  */
365 void
366 NaoJointStiffnessInterface::set_l_hip_yaw_pitch(const float new_l_hip_yaw_pitch)
367 {
368  data->l_hip_yaw_pitch = new_l_hip_yaw_pitch;
369  data_changed = true;
370 }
371 
372 /** Get l_hip_roll value.
373  * Left hip roll
374  * @return l_hip_roll value
375  */
376 float
378 {
379  return data->l_hip_roll;
380 }
381 
382 /** Get maximum length of l_hip_roll value.
383  * @return length of l_hip_roll value, can be length of the array or number of
384  * maximum number of characters for a string
385  */
386 size_t
388 {
389  return 1;
390 }
391 
392 /** Set l_hip_roll value.
393  * Left hip roll
394  * @param new_l_hip_roll new l_hip_roll value
395  */
396 void
398 {
399  data->l_hip_roll = new_l_hip_roll;
400  data_changed = true;
401 }
402 
403 /** Get l_hip_pitch value.
404  * Left hip pitch
405  * @return l_hip_pitch value
406  */
407 float
409 {
410  return data->l_hip_pitch;
411 }
412 
413 /** Get maximum length of l_hip_pitch value.
414  * @return length of l_hip_pitch value, can be length of the array or number of
415  * maximum number of characters for a string
416  */
417 size_t
419 {
420  return 1;
421 }
422 
423 /** Set l_hip_pitch value.
424  * Left hip pitch
425  * @param new_l_hip_pitch new l_hip_pitch value
426  */
427 void
429 {
430  data->l_hip_pitch = new_l_hip_pitch;
431  data_changed = true;
432 }
433 
434 /** Get l_knee_pitch value.
435  * Left knee pitch
436  * @return l_knee_pitch value
437  */
438 float
440 {
441  return data->l_knee_pitch;
442 }
443 
444 /** Get maximum length of l_knee_pitch value.
445  * @return length of l_knee_pitch value, can be length of the array or number of
446  * maximum number of characters for a string
447  */
448 size_t
450 {
451  return 1;
452 }
453 
454 /** Set l_knee_pitch value.
455  * Left knee pitch
456  * @param new_l_knee_pitch new l_knee_pitch value
457  */
458 void
459 NaoJointStiffnessInterface::set_l_knee_pitch(const float new_l_knee_pitch)
460 {
461  data->l_knee_pitch = new_l_knee_pitch;
462  data_changed = true;
463 }
464 
465 /** Get l_ankle_pitch value.
466  * Left ankle pitch
467  * @return l_ankle_pitch value
468  */
469 float
471 {
472  return data->l_ankle_pitch;
473 }
474 
475 /** Get maximum length of l_ankle_pitch value.
476  * @return length of l_ankle_pitch value, can be length of the array or number of
477  * maximum number of characters for a string
478  */
479 size_t
481 {
482  return 1;
483 }
484 
485 /** Set l_ankle_pitch value.
486  * Left ankle pitch
487  * @param new_l_ankle_pitch new l_ankle_pitch value
488  */
489 void
490 NaoJointStiffnessInterface::set_l_ankle_pitch(const float new_l_ankle_pitch)
491 {
492  data->l_ankle_pitch = new_l_ankle_pitch;
493  data_changed = true;
494 }
495 
496 /** Get l_ankle_roll value.
497  * Left ankle roll
498  * @return l_ankle_roll value
499  */
500 float
502 {
503  return data->l_ankle_roll;
504 }
505 
506 /** Get maximum length of l_ankle_roll value.
507  * @return length of l_ankle_roll value, can be length of the array or number of
508  * maximum number of characters for a string
509  */
510 size_t
512 {
513  return 1;
514 }
515 
516 /** Set l_ankle_roll value.
517  * Left ankle roll
518  * @param new_l_ankle_roll new l_ankle_roll value
519  */
520 void
521 NaoJointStiffnessInterface::set_l_ankle_roll(const float new_l_ankle_roll)
522 {
523  data->l_ankle_roll = new_l_ankle_roll;
524  data_changed = true;
525 }
526 
527 /** Get r_shoulder_pitch value.
528  * Right shoulder pitch
529  * @return r_shoulder_pitch value
530  */
531 float
533 {
534  return data->r_shoulder_pitch;
535 }
536 
537 /** Get maximum length of r_shoulder_pitch value.
538  * @return length of r_shoulder_pitch value, can be length of the array or number of
539  * maximum number of characters for a string
540  */
541 size_t
543 {
544  return 1;
545 }
546 
547 /** Set r_shoulder_pitch value.
548  * Right shoulder pitch
549  * @param new_r_shoulder_pitch new r_shoulder_pitch value
550  */
551 void
552 NaoJointStiffnessInterface::set_r_shoulder_pitch(const float new_r_shoulder_pitch)
553 {
554  data->r_shoulder_pitch = new_r_shoulder_pitch;
555  data_changed = true;
556 }
557 
558 /** Get r_shoulder_roll value.
559  * Right shoulder roll
560  * @return r_shoulder_roll value
561  */
562 float
564 {
565  return data->r_shoulder_roll;
566 }
567 
568 /** Get maximum length of r_shoulder_roll value.
569  * @return length of r_shoulder_roll value, can be length of the array or number of
570  * maximum number of characters for a string
571  */
572 size_t
574 {
575  return 1;
576 }
577 
578 /** Set r_shoulder_roll value.
579  * Right shoulder roll
580  * @param new_r_shoulder_roll new r_shoulder_roll value
581  */
582 void
583 NaoJointStiffnessInterface::set_r_shoulder_roll(const float new_r_shoulder_roll)
584 {
585  data->r_shoulder_roll = new_r_shoulder_roll;
586  data_changed = true;
587 }
588 
589 /** Get r_elbow_yaw value.
590  * Right elbow yaw
591  * @return r_elbow_yaw value
592  */
593 float
595 {
596  return data->r_elbow_yaw;
597 }
598 
599 /** Get maximum length of r_elbow_yaw value.
600  * @return length of r_elbow_yaw value, can be length of the array or number of
601  * maximum number of characters for a string
602  */
603 size_t
605 {
606  return 1;
607 }
608 
609 /** Set r_elbow_yaw value.
610  * Right elbow yaw
611  * @param new_r_elbow_yaw new r_elbow_yaw value
612  */
613 void
615 {
616  data->r_elbow_yaw = new_r_elbow_yaw;
617  data_changed = true;
618 }
619 
620 /** Get r_elbow_roll value.
621  * Right elbow roll
622  * @return r_elbow_roll value
623  */
624 float
626 {
627  return data->r_elbow_roll;
628 }
629 
630 /** Get maximum length of r_elbow_roll value.
631  * @return length of r_elbow_roll value, can be length of the array or number of
632  * maximum number of characters for a string
633  */
634 size_t
636 {
637  return 1;
638 }
639 
640 /** Set r_elbow_roll value.
641  * Right elbow roll
642  * @param new_r_elbow_roll new r_elbow_roll value
643  */
644 void
645 NaoJointStiffnessInterface::set_r_elbow_roll(const float new_r_elbow_roll)
646 {
647  data->r_elbow_roll = new_r_elbow_roll;
648  data_changed = true;
649 }
650 
651 /** Get r_wrist_yaw value.
652  * Right wrist yaw
653  * @return r_wrist_yaw value
654  */
655 float
657 {
658  return data->r_wrist_yaw;
659 }
660 
661 /** Get maximum length of r_wrist_yaw value.
662  * @return length of r_wrist_yaw value, can be length of the array or number of
663  * maximum number of characters for a string
664  */
665 size_t
667 {
668  return 1;
669 }
670 
671 /** Set r_wrist_yaw value.
672  * Right wrist yaw
673  * @param new_r_wrist_yaw new r_wrist_yaw value
674  */
675 void
677 {
678  data->r_wrist_yaw = new_r_wrist_yaw;
679  data_changed = true;
680 }
681 
682 /** Get r_hand value.
683  * Right hand
684  * @return r_hand value
685  */
686 float
688 {
689  return data->r_hand;
690 }
691 
692 /** Get maximum length of r_hand value.
693  * @return length of r_hand value, can be length of the array or number of
694  * maximum number of characters for a string
695  */
696 size_t
698 {
699  return 1;
700 }
701 
702 /** Set r_hand value.
703  * Right hand
704  * @param new_r_hand new r_hand value
705  */
706 void
708 {
709  data->r_hand = new_r_hand;
710  data_changed = true;
711 }
712 
713 /** Get r_hip_yaw_pitch value.
714  * Right hip yaw pitch
715  * @return r_hip_yaw_pitch value
716  */
717 float
719 {
720  return data->r_hip_yaw_pitch;
721 }
722 
723 /** Get maximum length of r_hip_yaw_pitch value.
724  * @return length of r_hip_yaw_pitch value, can be length of the array or number of
725  * maximum number of characters for a string
726  */
727 size_t
729 {
730  return 1;
731 }
732 
733 /** Set r_hip_yaw_pitch value.
734  * Right hip yaw pitch
735  * @param new_r_hip_yaw_pitch new r_hip_yaw_pitch value
736  */
737 void
738 NaoJointStiffnessInterface::set_r_hip_yaw_pitch(const float new_r_hip_yaw_pitch)
739 {
740  data->r_hip_yaw_pitch = new_r_hip_yaw_pitch;
741  data_changed = true;
742 }
743 
744 /** Get r_hip_roll value.
745  * Right hip roll
746  * @return r_hip_roll value
747  */
748 float
750 {
751  return data->r_hip_roll;
752 }
753 
754 /** Get maximum length of r_hip_roll value.
755  * @return length of r_hip_roll value, can be length of the array or number of
756  * maximum number of characters for a string
757  */
758 size_t
760 {
761  return 1;
762 }
763 
764 /** Set r_hip_roll value.
765  * Right hip roll
766  * @param new_r_hip_roll new r_hip_roll value
767  */
768 void
770 {
771  data->r_hip_roll = new_r_hip_roll;
772  data_changed = true;
773 }
774 
775 /** Get r_hip_pitch value.
776  * Right hip pitch
777  * @return r_hip_pitch value
778  */
779 float
781 {
782  return data->r_hip_pitch;
783 }
784 
785 /** Get maximum length of r_hip_pitch value.
786  * @return length of r_hip_pitch value, can be length of the array or number of
787  * maximum number of characters for a string
788  */
789 size_t
791 {
792  return 1;
793 }
794 
795 /** Set r_hip_pitch value.
796  * Right hip pitch
797  * @param new_r_hip_pitch new r_hip_pitch value
798  */
799 void
801 {
802  data->r_hip_pitch = new_r_hip_pitch;
803  data_changed = true;
804 }
805 
806 /** Get r_knee_pitch value.
807  * Right knee pitch
808  * @return r_knee_pitch value
809  */
810 float
812 {
813  return data->r_knee_pitch;
814 }
815 
816 /** Get maximum length of r_knee_pitch value.
817  * @return length of r_knee_pitch value, can be length of the array or number of
818  * maximum number of characters for a string
819  */
820 size_t
822 {
823  return 1;
824 }
825 
826 /** Set r_knee_pitch value.
827  * Right knee pitch
828  * @param new_r_knee_pitch new r_knee_pitch value
829  */
830 void
831 NaoJointStiffnessInterface::set_r_knee_pitch(const float new_r_knee_pitch)
832 {
833  data->r_knee_pitch = new_r_knee_pitch;
834  data_changed = true;
835 }
836 
837 /** Get r_ankle_pitch value.
838  * Right ankle pitch
839  * @return r_ankle_pitch value
840  */
841 float
843 {
844  return data->r_ankle_pitch;
845 }
846 
847 /** Get maximum length of r_ankle_pitch value.
848  * @return length of r_ankle_pitch value, can be length of the array or number of
849  * maximum number of characters for a string
850  */
851 size_t
853 {
854  return 1;
855 }
856 
857 /** Set r_ankle_pitch value.
858  * Right ankle pitch
859  * @param new_r_ankle_pitch new r_ankle_pitch value
860  */
861 void
862 NaoJointStiffnessInterface::set_r_ankle_pitch(const float new_r_ankle_pitch)
863 {
864  data->r_ankle_pitch = new_r_ankle_pitch;
865  data_changed = true;
866 }
867 
868 /** Get r_ankle_roll value.
869  * Right ankle roll
870  * @return r_ankle_roll value
871  */
872 float
874 {
875  return data->r_ankle_roll;
876 }
877 
878 /** Get maximum length of r_ankle_roll value.
879  * @return length of r_ankle_roll value, can be length of the array or number of
880  * maximum number of characters for a string
881  */
882 size_t
884 {
885  return 1;
886 }
887 
888 /** Set r_ankle_roll value.
889  * Right ankle roll
890  * @param new_r_ankle_roll new r_ankle_roll value
891  */
892 void
893 NaoJointStiffnessInterface::set_r_ankle_roll(const float new_r_ankle_roll)
894 {
895  data->r_ankle_roll = new_r_ankle_roll;
896  data_changed = true;
897 }
898 
899 /** Get minimum value.
900  *
901  Minimum stiffness of all joints. On the RoboCup version of the Nao this
902  ignores the hand and wrist values.
903 
904  * @return minimum value
905  */
906 float
908 {
909  return data->minimum;
910 }
911 
912 /** Get maximum length of minimum value.
913  * @return length of minimum value, can be length of the array or number of
914  * maximum number of characters for a string
915  */
916 size_t
918 {
919  return 1;
920 }
921 
922 /** Set minimum value.
923  *
924  Minimum stiffness of all joints. On the RoboCup version of the Nao this
925  ignores the hand and wrist values.
926 
927  * @param new_minimum new minimum value
928  */
929 void
931 {
932  data->minimum = new_minimum;
933  data_changed = true;
934 }
935 
936 /* =========== message create =========== */
937 Message *
939 {
940  if ( strncmp("SetStiffnessMessage", type, __INTERFACE_MESSAGE_TYPE_SIZE) == 0 ) {
941  return new SetStiffnessMessage();
942  } else if ( strncmp("SetBodyStiffnessMessage", type, __INTERFACE_MESSAGE_TYPE_SIZE) == 0 ) {
943  return new SetBodyStiffnessMessage();
944  } else if ( strncmp("SetStiffnessesMessage", type, __INTERFACE_MESSAGE_TYPE_SIZE) == 0 ) {
945  return new SetStiffnessesMessage();
946  } else {
947  throw UnknownTypeException("The given type '%s' does not match any known "
948  "message type for this interface type.", type);
949  }
950 }
951 
952 
953 /** Copy values from other interface.
954  * @param other other interface to copy values from
955  */
956 void
958 {
959  const NaoJointStiffnessInterface *oi = dynamic_cast<const NaoJointStiffnessInterface *>(other);
960  if (oi == NULL) {
961  throw TypeMismatchException("Can only copy values from interface of same type (%s vs. %s)",
962  type(), other->type());
963  }
964  memcpy(data, oi->data, sizeof(NaoJointStiffnessInterface_data_t));
965 }
966 
967 const char *
968 NaoJointStiffnessInterface::enum_tostring(const char *enumtype, int val) const
969 {
970  throw UnknownTypeException("Unknown enum type %s", enumtype);
971 }
972 
973 /* =========== messages =========== */
974 /** @class NaoJointStiffnessInterface::SetStiffnessMessage <interfaces/NaoJointStiffnessInterface.h>
975  * SetStiffnessMessage Fawkes BlackBoard Interface Message.
976  *
977 
978  */
979 
980 
981 /** Constructor with initial values.
982  * @param ini_servo initial value for servo
983  * @param ini_value initial value for value
984  * @param ini_time_sec initial value for time_sec
985  */
986 NaoJointStiffnessInterface::SetStiffnessMessage::SetStiffnessMessage(const uint32_t ini_servo, const float ini_value, const float ini_time_sec) : Message("SetStiffnessMessage")
987 {
988  data_size = sizeof(SetStiffnessMessage_data_t);
989  data_ptr = malloc(data_size);
990  memset(data_ptr, 0, data_size);
991  data = (SetStiffnessMessage_data_t *)data_ptr;
993  data->servo = ini_servo;
994  data->value = ini_value;
995  data->time_sec = ini_time_sec;
996  add_fieldinfo(IFT_UINT32, "servo", 1, &data->servo);
997  add_fieldinfo(IFT_FLOAT, "value", 1, &data->value);
998  add_fieldinfo(IFT_FLOAT, "time_sec", 1, &data->time_sec);
999 }
1000 /** Constructor */
1002 {
1003  data_size = sizeof(SetStiffnessMessage_data_t);
1004  data_ptr = malloc(data_size);
1005  memset(data_ptr, 0, data_size);
1006  data = (SetStiffnessMessage_data_t *)data_ptr;
1008  add_fieldinfo(IFT_UINT32, "servo", 1, &data->servo);
1009  add_fieldinfo(IFT_FLOAT, "value", 1, &data->value);
1010  add_fieldinfo(IFT_FLOAT, "time_sec", 1, &data->time_sec);
1011 }
1012 
1013 /** Destructor */
1015 {
1016  free(data_ptr);
1017 }
1018 
1019 /** Copy constructor.
1020  * @param m message to copy from
1021  */
1023 {
1024  data_size = m->data_size;
1025  data_ptr = malloc(data_size);
1026  memcpy(data_ptr, m->data_ptr, data_size);
1027  data = (SetStiffnessMessage_data_t *)data_ptr;
1029 }
1030 
1031 /* Methods */
1032 /** Get servo value.
1033  *
1034  A concatenated list of SERVO_* constants from the
1035  NaoJointPositionInterface to define the servos that should
1036  execute the movement. The list shall consist of binary or'ed
1037  SERVO_* constants.
1038 
1039  * @return servo value
1040  */
1041 uint32_t
1043 {
1044  return data->servo;
1045 }
1046 
1047 /** Get maximum length of servo value.
1048  * @return length of servo value, can be length of the array or number of
1049  * maximum number of characters for a string
1050  */
1051 size_t
1053 {
1054  return 1;
1055 }
1056 
1057 /** Set servo value.
1058  *
1059  A concatenated list of SERVO_* constants from the
1060  NaoJointPositionInterface to define the servos that should
1061  execute the movement. The list shall consist of binary or'ed
1062  SERVO_* constants.
1063 
1064  * @param new_servo new servo value
1065  */
1066 void
1068 {
1069  data->servo = new_servo;
1070 }
1071 
1072 /** Get value value.
1073  * Servo value to set for servos.
1074  * @return value value
1075  */
1076 float
1078 {
1079  return data->value;
1080 }
1081 
1082 /** Get maximum length of value value.
1083  * @return length of value value, can be length of the array or number of
1084  * maximum number of characters for a string
1085  */
1086 size_t
1088 {
1089  return 1;
1090 }
1091 
1092 /** Set value value.
1093  * Servo value to set for servos.
1094  * @param new_value new value value
1095  */
1096 void
1098 {
1099  data->value = new_value;
1100 }
1101 
1102 /** Get time_sec value.
1103  * Time when to reach the stiffness.
1104  * @return time_sec value
1105  */
1106 float
1108 {
1109  return data->time_sec;
1110 }
1111 
1112 /** Get maximum length of time_sec value.
1113  * @return length of time_sec value, can be length of the array or number of
1114  * maximum number of characters for a string
1115  */
1116 size_t
1118 {
1119  return 1;
1120 }
1121 
1122 /** Set time_sec value.
1123  * Time when to reach the stiffness.
1124  * @param new_time_sec new time_sec value
1125  */
1126 void
1128 {
1129  data->time_sec = new_time_sec;
1130 }
1131 
1132 /** Clone this message.
1133  * Produces a message of the same type as this message and copies the
1134  * data to the new message.
1135  * @return clone of this message
1136  */
1137 Message *
1139 {
1141 }
1142 /** @class NaoJointStiffnessInterface::SetBodyStiffnessMessage <interfaces/NaoJointStiffnessInterface.h>
1143  * SetBodyStiffnessMessage Fawkes BlackBoard Interface Message.
1144  *
1145 
1146  */
1147 
1148 
1149 /** Constructor with initial values.
1150  * @param ini_value initial value for value
1151  * @param ini_time_sec initial value for time_sec
1152  */
1153 NaoJointStiffnessInterface::SetBodyStiffnessMessage::SetBodyStiffnessMessage(const float ini_value, const float ini_time_sec) : Message("SetBodyStiffnessMessage")
1154 {
1155  data_size = sizeof(SetBodyStiffnessMessage_data_t);
1156  data_ptr = malloc(data_size);
1157  memset(data_ptr, 0, data_size);
1158  data = (SetBodyStiffnessMessage_data_t *)data_ptr;
1160  data->value = ini_value;
1161  data->time_sec = ini_time_sec;
1162  add_fieldinfo(IFT_FLOAT, "value", 1, &data->value);
1163  add_fieldinfo(IFT_FLOAT, "time_sec", 1, &data->time_sec);
1164 }
1165 /** Constructor */
1167 {
1168  data_size = sizeof(SetBodyStiffnessMessage_data_t);
1169  data_ptr = malloc(data_size);
1170  memset(data_ptr, 0, data_size);
1171  data = (SetBodyStiffnessMessage_data_t *)data_ptr;
1173  add_fieldinfo(IFT_FLOAT, "value", 1, &data->value);
1174  add_fieldinfo(IFT_FLOAT, "time_sec", 1, &data->time_sec);
1175 }
1176 
1177 /** Destructor */
1179 {
1180  free(data_ptr);
1181 }
1182 
1183 /** Copy constructor.
1184  * @param m message to copy from
1185  */
1187 {
1188  data_size = m->data_size;
1189  data_ptr = malloc(data_size);
1190  memcpy(data_ptr, m->data_ptr, data_size);
1191  data = (SetBodyStiffnessMessage_data_t *)data_ptr;
1193 }
1194 
1195 /* Methods */
1196 /** Get value value.
1197  * Servo value to set for servos.
1198  * @return value value
1199  */
1200 float
1202 {
1203  return data->value;
1204 }
1205 
1206 /** Get maximum length of value value.
1207  * @return length of value value, can be length of the array or number of
1208  * maximum number of characters for a string
1209  */
1210 size_t
1212 {
1213  return 1;
1214 }
1215 
1216 /** Set value value.
1217  * Servo value to set for servos.
1218  * @param new_value new value value
1219  */
1220 void
1222 {
1223  data->value = new_value;
1224 }
1225 
1226 /** Get time_sec value.
1227  * Time when to reach the stiffness.
1228  * @return time_sec value
1229  */
1230 float
1232 {
1233  return data->time_sec;
1234 }
1235 
1236 /** Get maximum length of time_sec value.
1237  * @return length of time_sec value, can be length of the array or number of
1238  * maximum number of characters for a string
1239  */
1240 size_t
1242 {
1243  return 1;
1244 }
1245 
1246 /** Set time_sec value.
1247  * Time when to reach the stiffness.
1248  * @param new_time_sec new time_sec value
1249  */
1250 void
1252 {
1253  data->time_sec = new_time_sec;
1254 }
1255 
1256 /** Clone this message.
1257  * Produces a message of the same type as this message and copies the
1258  * data to the new message.
1259  * @return clone of this message
1260  */
1261 Message *
1263 {
1265 }
1266 /** @class NaoJointStiffnessInterface::SetStiffnessesMessage <interfaces/NaoJointStiffnessInterface.h>
1267  * SetStiffnessesMessage Fawkes BlackBoard Interface Message.
1268  *
1269 
1270  */
1271 
1272 
1273 /** Constructor with initial values.
1274  * @param ini_time_sec initial value for time_sec
1275  * @param ini_head_yaw initial value for head_yaw
1276  * @param ini_head_pitch initial value for head_pitch
1277  * @param ini_l_shoulder_pitch initial value for l_shoulder_pitch
1278  * @param ini_l_shoulder_roll initial value for l_shoulder_roll
1279  * @param ini_l_elbow_yaw initial value for l_elbow_yaw
1280  * @param ini_l_elbow_roll initial value for l_elbow_roll
1281  * @param ini_l_wrist_yaw initial value for l_wrist_yaw
1282  * @param ini_l_hand initial value for l_hand
1283  * @param ini_l_hip_yaw_pitch initial value for l_hip_yaw_pitch
1284  * @param ini_l_hip_roll initial value for l_hip_roll
1285  * @param ini_l_hip_pitch initial value for l_hip_pitch
1286  * @param ini_l_knee_pitch initial value for l_knee_pitch
1287  * @param ini_l_ankle_pitch initial value for l_ankle_pitch
1288  * @param ini_l_ankle_roll initial value for l_ankle_roll
1289  * @param ini_r_shoulder_pitch initial value for r_shoulder_pitch
1290  * @param ini_r_shoulder_roll initial value for r_shoulder_roll
1291  * @param ini_r_elbow_yaw initial value for r_elbow_yaw
1292  * @param ini_r_wrist_yaw initial value for r_wrist_yaw
1293  * @param ini_r_hand initial value for r_hand
1294  * @param ini_r_hip_yaw_pitch initial value for r_hip_yaw_pitch
1295  * @param ini_r_hip_roll initial value for r_hip_roll
1296  * @param ini_r_hip_pitch initial value for r_hip_pitch
1297  * @param ini_r_knee_pitch initial value for r_knee_pitch
1298  * @param ini_r_ankle_pitch initial value for r_ankle_pitch
1299  * @param ini_r_ankle_roll initial value for r_ankle_roll
1300  * @param ini_r_elbow_roll initial value for r_elbow_roll
1301  */
1302 NaoJointStiffnessInterface::SetStiffnessesMessage::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) : Message("SetStiffnessesMessage")
1303 {
1304  data_size = sizeof(SetStiffnessesMessage_data_t);
1305  data_ptr = malloc(data_size);
1306  memset(data_ptr, 0, data_size);
1307  data = (SetStiffnessesMessage_data_t *)data_ptr;
1309  data->time_sec = ini_time_sec;
1310  data->head_yaw = ini_head_yaw;
1311  data->head_pitch = ini_head_pitch;
1312  data->l_shoulder_pitch = ini_l_shoulder_pitch;
1313  data->l_shoulder_roll = ini_l_shoulder_roll;
1314  data->l_elbow_yaw = ini_l_elbow_yaw;
1315  data->l_elbow_roll = ini_l_elbow_roll;
1316  data->l_wrist_yaw = ini_l_wrist_yaw;
1317  data->l_hand = ini_l_hand;
1318  data->l_hip_yaw_pitch = ini_l_hip_yaw_pitch;
1319  data->l_hip_roll = ini_l_hip_roll;
1320  data->l_hip_pitch = ini_l_hip_pitch;
1321  data->l_knee_pitch = ini_l_knee_pitch;
1322  data->l_ankle_pitch = ini_l_ankle_pitch;
1323  data->l_ankle_roll = ini_l_ankle_roll;
1324  data->r_shoulder_pitch = ini_r_shoulder_pitch;
1325  data->r_shoulder_roll = ini_r_shoulder_roll;
1326  data->r_elbow_yaw = ini_r_elbow_yaw;
1327  data->r_wrist_yaw = ini_r_wrist_yaw;
1328  data->r_hand = ini_r_hand;
1329  data->r_hip_yaw_pitch = ini_r_hip_yaw_pitch;
1330  data->r_hip_roll = ini_r_hip_roll;
1331  data->r_hip_pitch = ini_r_hip_pitch;
1332  data->r_knee_pitch = ini_r_knee_pitch;
1333  data->r_ankle_pitch = ini_r_ankle_pitch;
1334  data->r_ankle_roll = ini_r_ankle_roll;
1335  data->r_elbow_roll = ini_r_elbow_roll;
1336  add_fieldinfo(IFT_FLOAT, "time_sec", 1, &data->time_sec);
1337  add_fieldinfo(IFT_FLOAT, "head_yaw", 1, &data->head_yaw);
1338  add_fieldinfo(IFT_FLOAT, "head_pitch", 1, &data->head_pitch);
1339  add_fieldinfo(IFT_FLOAT, "l_shoulder_pitch", 1, &data->l_shoulder_pitch);
1340  add_fieldinfo(IFT_FLOAT, "l_shoulder_roll", 1, &data->l_shoulder_roll);
1341  add_fieldinfo(IFT_FLOAT, "l_elbow_yaw", 1, &data->l_elbow_yaw);
1342  add_fieldinfo(IFT_FLOAT, "l_elbow_roll", 1, &data->l_elbow_roll);
1343  add_fieldinfo(IFT_FLOAT, "l_wrist_yaw", 1, &data->l_wrist_yaw);
1344  add_fieldinfo(IFT_FLOAT, "l_hand", 1, &data->l_hand);
1345  add_fieldinfo(IFT_FLOAT, "l_hip_yaw_pitch", 1, &data->l_hip_yaw_pitch);
1346  add_fieldinfo(IFT_FLOAT, "l_hip_roll", 1, &data->l_hip_roll);
1347  add_fieldinfo(IFT_FLOAT, "l_hip_pitch", 1, &data->l_hip_pitch);
1348  add_fieldinfo(IFT_FLOAT, "l_knee_pitch", 1, &data->l_knee_pitch);
1349  add_fieldinfo(IFT_FLOAT, "l_ankle_pitch", 1, &data->l_ankle_pitch);
1350  add_fieldinfo(IFT_FLOAT, "l_ankle_roll", 1, &data->l_ankle_roll);
1351  add_fieldinfo(IFT_FLOAT, "r_shoulder_pitch", 1, &data->r_shoulder_pitch);
1352  add_fieldinfo(IFT_FLOAT, "r_shoulder_roll", 1, &data->r_shoulder_roll);
1353  add_fieldinfo(IFT_FLOAT, "r_elbow_yaw", 1, &data->r_elbow_yaw);
1354  add_fieldinfo(IFT_FLOAT, "r_wrist_yaw", 1, &data->r_wrist_yaw);
1355  add_fieldinfo(IFT_FLOAT, "r_hand", 1, &data->r_hand);
1356  add_fieldinfo(IFT_FLOAT, "r_hip_yaw_pitch", 1, &data->r_hip_yaw_pitch);
1357  add_fieldinfo(IFT_FLOAT, "r_hip_roll", 1, &data->r_hip_roll);
1358  add_fieldinfo(IFT_FLOAT, "r_hip_pitch", 1, &data->r_hip_pitch);
1359  add_fieldinfo(IFT_FLOAT, "r_knee_pitch", 1, &data->r_knee_pitch);
1360  add_fieldinfo(IFT_FLOAT, "r_ankle_pitch", 1, &data->r_ankle_pitch);
1361  add_fieldinfo(IFT_FLOAT, "r_ankle_roll", 1, &data->r_ankle_roll);
1362  add_fieldinfo(IFT_FLOAT, "r_elbow_roll", 1, &data->r_elbow_roll);
1363 }
1364 /** Constructor */
1366 {
1367  data_size = sizeof(SetStiffnessesMessage_data_t);
1368  data_ptr = malloc(data_size);
1369  memset(data_ptr, 0, data_size);
1370  data = (SetStiffnessesMessage_data_t *)data_ptr;
1372  add_fieldinfo(IFT_FLOAT, "time_sec", 1, &data->time_sec);
1373  add_fieldinfo(IFT_FLOAT, "head_yaw", 1, &data->head_yaw);
1374  add_fieldinfo(IFT_FLOAT, "head_pitch", 1, &data->head_pitch);
1375  add_fieldinfo(IFT_FLOAT, "l_shoulder_pitch", 1, &data->l_shoulder_pitch);
1376  add_fieldinfo(IFT_FLOAT, "l_shoulder_roll", 1, &data->l_shoulder_roll);
1377  add_fieldinfo(IFT_FLOAT, "l_elbow_yaw", 1, &data->l_elbow_yaw);
1378  add_fieldinfo(IFT_FLOAT, "l_elbow_roll", 1, &data->l_elbow_roll);
1379  add_fieldinfo(IFT_FLOAT, "l_wrist_yaw", 1, &data->l_wrist_yaw);
1380  add_fieldinfo(IFT_FLOAT, "l_hand", 1, &data->l_hand);
1381  add_fieldinfo(IFT_FLOAT, "l_hip_yaw_pitch", 1, &data->l_hip_yaw_pitch);
1382  add_fieldinfo(IFT_FLOAT, "l_hip_roll", 1, &data->l_hip_roll);
1383  add_fieldinfo(IFT_FLOAT, "l_hip_pitch", 1, &data->l_hip_pitch);
1384  add_fieldinfo(IFT_FLOAT, "l_knee_pitch", 1, &data->l_knee_pitch);
1385  add_fieldinfo(IFT_FLOAT, "l_ankle_pitch", 1, &data->l_ankle_pitch);
1386  add_fieldinfo(IFT_FLOAT, "l_ankle_roll", 1, &data->l_ankle_roll);
1387  add_fieldinfo(IFT_FLOAT, "r_shoulder_pitch", 1, &data->r_shoulder_pitch);
1388  add_fieldinfo(IFT_FLOAT, "r_shoulder_roll", 1, &data->r_shoulder_roll);
1389  add_fieldinfo(IFT_FLOAT, "r_elbow_yaw", 1, &data->r_elbow_yaw);
1390  add_fieldinfo(IFT_FLOAT, "r_wrist_yaw", 1, &data->r_wrist_yaw);
1391  add_fieldinfo(IFT_FLOAT, "r_hand", 1, &data->r_hand);
1392  add_fieldinfo(IFT_FLOAT, "r_hip_yaw_pitch", 1, &data->r_hip_yaw_pitch);
1393  add_fieldinfo(IFT_FLOAT, "r_hip_roll", 1, &data->r_hip_roll);
1394  add_fieldinfo(IFT_FLOAT, "r_hip_pitch", 1, &data->r_hip_pitch);
1395  add_fieldinfo(IFT_FLOAT, "r_knee_pitch", 1, &data->r_knee_pitch);
1396  add_fieldinfo(IFT_FLOAT, "r_ankle_pitch", 1, &data->r_ankle_pitch);
1397  add_fieldinfo(IFT_FLOAT, "r_ankle_roll", 1, &data->r_ankle_roll);
1398  add_fieldinfo(IFT_FLOAT, "r_elbow_roll", 1, &data->r_elbow_roll);
1399 }
1400 
1401 /** Destructor */
1403 {
1404  free(data_ptr);
1405 }
1406 
1407 /** Copy constructor.
1408  * @param m message to copy from
1409  */
1411 {
1412  data_size = m->data_size;
1413  data_ptr = malloc(data_size);
1414  memcpy(data_ptr, m->data_ptr, data_size);
1415  data = (SetStiffnessesMessage_data_t *)data_ptr;
1417 }
1418 
1419 /* Methods */
1420 /** Get time_sec value.
1421  * Time when to reach the stiffness.
1422  * @return time_sec value
1423  */
1424 float
1426 {
1427  return data->time_sec;
1428 }
1429 
1430 /** Get maximum length of time_sec value.
1431  * @return length of time_sec value, can be length of the array or number of
1432  * maximum number of characters for a string
1433  */
1434 size_t
1436 {
1437  return 1;
1438 }
1439 
1440 /** Set time_sec value.
1441  * Time when to reach the stiffness.
1442  * @param new_time_sec new time_sec value
1443  */
1444 void
1446 {
1447  data->time_sec = new_time_sec;
1448 }
1449 
1450 /** Get head_yaw value.
1451  * Head yaw
1452  * @return head_yaw value
1453  */
1454 float
1456 {
1457  return data->head_yaw;
1458 }
1459 
1460 /** Get maximum length of head_yaw value.
1461  * @return length of head_yaw value, can be length of the array or number of
1462  * maximum number of characters for a string
1463  */
1464 size_t
1466 {
1467  return 1;
1468 }
1469 
1470 /** Set head_yaw value.
1471  * Head yaw
1472  * @param new_head_yaw new head_yaw value
1473  */
1474 void
1476 {
1477  data->head_yaw = new_head_yaw;
1478 }
1479 
1480 /** Get head_pitch value.
1481  * Head pitch
1482  * @return head_pitch value
1483  */
1484 float
1486 {
1487  return data->head_pitch;
1488 }
1489 
1490 /** Get maximum length of head_pitch value.
1491  * @return length of head_pitch value, can be length of the array or number of
1492  * maximum number of characters for a string
1493  */
1494 size_t
1496 {
1497  return 1;
1498 }
1499 
1500 /** Set head_pitch value.
1501  * Head pitch
1502  * @param new_head_pitch new head_pitch value
1503  */
1504 void
1506 {
1507  data->head_pitch = new_head_pitch;
1508 }
1509 
1510 /** Get l_shoulder_pitch value.
1511  * Left shoulder pitch
1512  * @return l_shoulder_pitch value
1513  */
1514 float
1516 {
1517  return data->l_shoulder_pitch;
1518 }
1519 
1520 /** Get maximum length of l_shoulder_pitch value.
1521  * @return length of l_shoulder_pitch value, can be length of the array or number of
1522  * maximum number of characters for a string
1523  */
1524 size_t
1526 {
1527  return 1;
1528 }
1529 
1530 /** Set l_shoulder_pitch value.
1531  * Left shoulder pitch
1532  * @param new_l_shoulder_pitch new l_shoulder_pitch value
1533  */
1534 void
1536 {
1537  data->l_shoulder_pitch = new_l_shoulder_pitch;
1538 }
1539 
1540 /** Get l_shoulder_roll value.
1541  * Left shoulder roll
1542  * @return l_shoulder_roll value
1543  */
1544 float
1546 {
1547  return data->l_shoulder_roll;
1548 }
1549 
1550 /** Get maximum length of l_shoulder_roll value.
1551  * @return length of l_shoulder_roll value, can be length of the array or number of
1552  * maximum number of characters for a string
1553  */
1554 size_t
1556 {
1557  return 1;
1558 }
1559 
1560 /** Set l_shoulder_roll value.
1561  * Left shoulder roll
1562  * @param new_l_shoulder_roll new l_shoulder_roll value
1563  */
1564 void
1566 {
1567  data->l_shoulder_roll = new_l_shoulder_roll;
1568 }
1569 
1570 /** Get l_elbow_yaw value.
1571  * Left elbow yaw
1572  * @return l_elbow_yaw value
1573  */
1574 float
1576 {
1577  return data->l_elbow_yaw;
1578 }
1579 
1580 /** Get maximum length of l_elbow_yaw value.
1581  * @return length of l_elbow_yaw value, can be length of the array or number of
1582  * maximum number of characters for a string
1583  */
1584 size_t
1586 {
1587  return 1;
1588 }
1589 
1590 /** Set l_elbow_yaw value.
1591  * Left elbow yaw
1592  * @param new_l_elbow_yaw new l_elbow_yaw value
1593  */
1594 void
1596 {
1597  data->l_elbow_yaw = new_l_elbow_yaw;
1598 }
1599 
1600 /** Get l_elbow_roll value.
1601  * Left elbow roll
1602  * @return l_elbow_roll value
1603  */
1604 float
1606 {
1607  return data->l_elbow_roll;
1608 }
1609 
1610 /** Get maximum length of l_elbow_roll value.
1611  * @return length of l_elbow_roll value, can be length of the array or number of
1612  * maximum number of characters for a string
1613  */
1614 size_t
1616 {
1617  return 1;
1618 }
1619 
1620 /** Set l_elbow_roll value.
1621  * Left elbow roll
1622  * @param new_l_elbow_roll new l_elbow_roll value
1623  */
1624 void
1626 {
1627  data->l_elbow_roll = new_l_elbow_roll;
1628 }
1629 
1630 /** Get l_wrist_yaw value.
1631  * Left wrist yaw
1632  * @return l_wrist_yaw value
1633  */
1634 float
1636 {
1637  return data->l_wrist_yaw;
1638 }
1639 
1640 /** Get maximum length of l_wrist_yaw value.
1641  * @return length of l_wrist_yaw value, can be length of the array or number of
1642  * maximum number of characters for a string
1643  */
1644 size_t
1646 {
1647  return 1;
1648 }
1649 
1650 /** Set l_wrist_yaw value.
1651  * Left wrist yaw
1652  * @param new_l_wrist_yaw new l_wrist_yaw value
1653  */
1654 void
1656 {
1657  data->l_wrist_yaw = new_l_wrist_yaw;
1658 }
1659 
1660 /** Get l_hand value.
1661  * Left hand
1662  * @return l_hand value
1663  */
1664 float
1666 {
1667  return data->l_hand;
1668 }
1669 
1670 /** Get maximum length of l_hand value.
1671  * @return length of l_hand value, can be length of the array or number of
1672  * maximum number of characters for a string
1673  */
1674 size_t
1676 {
1677  return 1;
1678 }
1679 
1680 /** Set l_hand value.
1681  * Left hand
1682  * @param new_l_hand new l_hand value
1683  */
1684 void
1686 {
1687  data->l_hand = new_l_hand;
1688 }
1689 
1690 /** Get l_hip_yaw_pitch value.
1691  * Left hip yaw pitch
1692  * @return l_hip_yaw_pitch value
1693  */
1694 float
1696 {
1697  return data->l_hip_yaw_pitch;
1698 }
1699 
1700 /** Get maximum length of l_hip_yaw_pitch value.
1701  * @return length of l_hip_yaw_pitch value, can be length of the array or number of
1702  * maximum number of characters for a string
1703  */
1704 size_t
1706 {
1707  return 1;
1708 }
1709 
1710 /** Set l_hip_yaw_pitch value.
1711  * Left hip yaw pitch
1712  * @param new_l_hip_yaw_pitch new l_hip_yaw_pitch value
1713  */
1714 void
1716 {
1717  data->l_hip_yaw_pitch = new_l_hip_yaw_pitch;
1718 }
1719 
1720 /** Get l_hip_roll value.
1721  * Left hip roll
1722  * @return l_hip_roll value
1723  */
1724 float
1726 {
1727  return data->l_hip_roll;
1728 }
1729 
1730 /** Get maximum length of l_hip_roll value.
1731  * @return length of l_hip_roll value, can be length of the array or number of
1732  * maximum number of characters for a string
1733  */
1734 size_t
1736 {
1737  return 1;
1738 }
1739 
1740 /** Set l_hip_roll value.
1741  * Left hip roll
1742  * @param new_l_hip_roll new l_hip_roll value
1743  */
1744 void
1746 {
1747  data->l_hip_roll = new_l_hip_roll;
1748 }
1749 
1750 /** Get l_hip_pitch value.
1751  * Left hip pitch
1752  * @return l_hip_pitch value
1753  */
1754 float
1756 {
1757  return data->l_hip_pitch;
1758 }
1759 
1760 /** Get maximum length of l_hip_pitch value.
1761  * @return length of l_hip_pitch value, can be length of the array or number of
1762  * maximum number of characters for a string
1763  */
1764 size_t
1766 {
1767  return 1;
1768 }
1769 
1770 /** Set l_hip_pitch value.
1771  * Left hip pitch
1772  * @param new_l_hip_pitch new l_hip_pitch value
1773  */
1774 void
1776 {
1777  data->l_hip_pitch = new_l_hip_pitch;
1778 }
1779 
1780 /** Get l_knee_pitch value.
1781  * Left knee pitch
1782  * @return l_knee_pitch value
1783  */
1784 float
1786 {
1787  return data->l_knee_pitch;
1788 }
1789 
1790 /** Get maximum length of l_knee_pitch value.
1791  * @return length of l_knee_pitch value, can be length of the array or number of
1792  * maximum number of characters for a string
1793  */
1794 size_t
1796 {
1797  return 1;
1798 }
1799 
1800 /** Set l_knee_pitch value.
1801  * Left knee pitch
1802  * @param new_l_knee_pitch new l_knee_pitch value
1803  */
1804 void
1806 {
1807  data->l_knee_pitch = new_l_knee_pitch;
1808 }
1809 
1810 /** Get l_ankle_pitch value.
1811  * Left ankle pitch
1812  * @return l_ankle_pitch value
1813  */
1814 float
1816 {
1817  return data->l_ankle_pitch;
1818 }
1819 
1820 /** Get maximum length of l_ankle_pitch value.
1821  * @return length of l_ankle_pitch value, can be length of the array or number of
1822  * maximum number of characters for a string
1823  */
1824 size_t
1826 {
1827  return 1;
1828 }
1829 
1830 /** Set l_ankle_pitch value.
1831  * Left ankle pitch
1832  * @param new_l_ankle_pitch new l_ankle_pitch value
1833  */
1834 void
1836 {
1837  data->l_ankle_pitch = new_l_ankle_pitch;
1838 }
1839 
1840 /** Get l_ankle_roll value.
1841  * Left ankle roll
1842  * @return l_ankle_roll value
1843  */
1844 float
1846 {
1847  return data->l_ankle_roll;
1848 }
1849 
1850 /** Get maximum length of l_ankle_roll value.
1851  * @return length of l_ankle_roll value, can be length of the array or number of
1852  * maximum number of characters for a string
1853  */
1854 size_t
1856 {
1857  return 1;
1858 }
1859 
1860 /** Set l_ankle_roll value.
1861  * Left ankle roll
1862  * @param new_l_ankle_roll new l_ankle_roll value
1863  */
1864 void
1866 {
1867  data->l_ankle_roll = new_l_ankle_roll;
1868 }
1869 
1870 /** Get r_shoulder_pitch value.
1871  * Right shoulder pitch
1872  * @return r_shoulder_pitch value
1873  */
1874 float
1876 {
1877  return data->r_shoulder_pitch;
1878 }
1879 
1880 /** Get maximum length of r_shoulder_pitch value.
1881  * @return length of r_shoulder_pitch value, can be length of the array or number of
1882  * maximum number of characters for a string
1883  */
1884 size_t
1886 {
1887  return 1;
1888 }
1889 
1890 /** Set r_shoulder_pitch value.
1891  * Right shoulder pitch
1892  * @param new_r_shoulder_pitch new r_shoulder_pitch value
1893  */
1894 void
1896 {
1897  data->r_shoulder_pitch = new_r_shoulder_pitch;
1898 }
1899 
1900 /** Get r_shoulder_roll value.
1901  * Right shoulder roll
1902  * @return r_shoulder_roll value
1903  */
1904 float
1906 {
1907  return data->r_shoulder_roll;
1908 }
1909 
1910 /** Get maximum length of r_shoulder_roll value.
1911  * @return length of r_shoulder_roll value, can be length of the array or number of
1912  * maximum number of characters for a string
1913  */
1914 size_t
1916 {
1917  return 1;
1918 }
1919 
1920 /** Set r_shoulder_roll value.
1921  * Right shoulder roll
1922  * @param new_r_shoulder_roll new r_shoulder_roll value
1923  */
1924 void
1926 {
1927  data->r_shoulder_roll = new_r_shoulder_roll;
1928 }
1929 
1930 /** Get r_elbow_yaw value.
1931  * Right elbow yaw
1932  * @return r_elbow_yaw value
1933  */
1934 float
1936 {
1937  return data->r_elbow_yaw;
1938 }
1939 
1940 /** Get maximum length of r_elbow_yaw value.
1941  * @return length of r_elbow_yaw value, can be length of the array or number of
1942  * maximum number of characters for a string
1943  */
1944 size_t
1946 {
1947  return 1;
1948 }
1949 
1950 /** Set r_elbow_yaw value.
1951  * Right elbow yaw
1952  * @param new_r_elbow_yaw new r_elbow_yaw value
1953  */
1954 void
1956 {
1957  data->r_elbow_yaw = new_r_elbow_yaw;
1958 }
1959 
1960 /** Get r_wrist_yaw value.
1961  * Right wrist yaw
1962  * @return r_wrist_yaw value
1963  */
1964 float
1966 {
1967  return data->r_wrist_yaw;
1968 }
1969 
1970 /** Get maximum length of r_wrist_yaw value.
1971  * @return length of r_wrist_yaw value, can be length of the array or number of
1972  * maximum number of characters for a string
1973  */
1974 size_t
1976 {
1977  return 1;
1978 }
1979 
1980 /** Set r_wrist_yaw value.
1981  * Right wrist yaw
1982  * @param new_r_wrist_yaw new r_wrist_yaw value
1983  */
1984 void
1986 {
1987  data->r_wrist_yaw = new_r_wrist_yaw;
1988 }
1989 
1990 /** Get r_hand value.
1991  * Right hand
1992  * @return r_hand value
1993  */
1994 float
1996 {
1997  return data->r_hand;
1998 }
1999 
2000 /** Get maximum length of r_hand value.
2001  * @return length of r_hand value, can be length of the array or number of
2002  * maximum number of characters for a string
2003  */
2004 size_t
2006 {
2007  return 1;
2008 }
2009 
2010 /** Set r_hand value.
2011  * Right hand
2012  * @param new_r_hand new r_hand value
2013  */
2014 void
2016 {
2017  data->r_hand = new_r_hand;
2018 }
2019 
2020 /** Get r_hip_yaw_pitch value.
2021  * Right hip yaw pitch
2022  * @return r_hip_yaw_pitch value
2023  */
2024 float
2026 {
2027  return data->r_hip_yaw_pitch;
2028 }
2029 
2030 /** Get maximum length of r_hip_yaw_pitch value.
2031  * @return length of r_hip_yaw_pitch value, can be length of the array or number of
2032  * maximum number of characters for a string
2033  */
2034 size_t
2036 {
2037  return 1;
2038 }
2039 
2040 /** Set r_hip_yaw_pitch value.
2041  * Right hip yaw pitch
2042  * @param new_r_hip_yaw_pitch new r_hip_yaw_pitch value
2043  */
2044 void
2046 {
2047  data->r_hip_yaw_pitch = new_r_hip_yaw_pitch;
2048 }
2049 
2050 /** Get r_hip_roll value.
2051  * Right hip roll
2052  * @return r_hip_roll value
2053  */
2054 float
2056 {
2057  return data->r_hip_roll;
2058 }
2059 
2060 /** Get maximum length of r_hip_roll value.
2061  * @return length of r_hip_roll value, can be length of the array or number of
2062  * maximum number of characters for a string
2063  */
2064 size_t
2066 {
2067  return 1;
2068 }
2069 
2070 /** Set r_hip_roll value.
2071  * Right hip roll
2072  * @param new_r_hip_roll new r_hip_roll value
2073  */
2074 void
2076 {
2077  data->r_hip_roll = new_r_hip_roll;
2078 }
2079 
2080 /** Get r_hip_pitch value.
2081  * Right hip pitch
2082  * @return r_hip_pitch value
2083  */
2084 float
2086 {
2087  return data->r_hip_pitch;
2088 }
2089 
2090 /** Get maximum length of r_hip_pitch value.
2091  * @return length of r_hip_pitch value, can be length of the array or number of
2092  * maximum number of characters for a string
2093  */
2094 size_t
2096 {
2097  return 1;
2098 }
2099 
2100 /** Set r_hip_pitch value.
2101  * Right hip pitch
2102  * @param new_r_hip_pitch new r_hip_pitch value
2103  */
2104 void
2106 {
2107  data->r_hip_pitch = new_r_hip_pitch;
2108 }
2109 
2110 /** Get r_knee_pitch value.
2111  * Right knee pitch
2112  * @return r_knee_pitch value
2113  */
2114 float
2116 {
2117  return data->r_knee_pitch;
2118 }
2119 
2120 /** Get maximum length of r_knee_pitch value.
2121  * @return length of r_knee_pitch value, can be length of the array or number of
2122  * maximum number of characters for a string
2123  */
2124 size_t
2126 {
2127  return 1;
2128 }
2129 
2130 /** Set r_knee_pitch value.
2131  * Right knee pitch
2132  * @param new_r_knee_pitch new r_knee_pitch value
2133  */
2134 void
2136 {
2137  data->r_knee_pitch = new_r_knee_pitch;
2138 }
2139 
2140 /** Get r_ankle_pitch value.
2141  * Right ankle pitch
2142  * @return r_ankle_pitch value
2143  */
2144 float
2146 {
2147  return data->r_ankle_pitch;
2148 }
2149 
2150 /** Get maximum length of r_ankle_pitch value.
2151  * @return length of r_ankle_pitch value, can be length of the array or number of
2152  * maximum number of characters for a string
2153  */
2154 size_t
2156 {
2157  return 1;
2158 }
2159 
2160 /** Set r_ankle_pitch value.
2161  * Right ankle pitch
2162  * @param new_r_ankle_pitch new r_ankle_pitch value
2163  */
2164 void
2166 {
2167  data->r_ankle_pitch = new_r_ankle_pitch;
2168 }
2169 
2170 /** Get r_ankle_roll value.
2171  * Right ankle roll
2172  * @return r_ankle_roll value
2173  */
2174 float
2176 {
2177  return data->r_ankle_roll;
2178 }
2179 
2180 /** Get maximum length of r_ankle_roll value.
2181  * @return length of r_ankle_roll value, can be length of the array or number of
2182  * maximum number of characters for a string
2183  */
2184 size_t
2186 {
2187  return 1;
2188 }
2189 
2190 /** Set r_ankle_roll value.
2191  * Right ankle roll
2192  * @param new_r_ankle_roll new r_ankle_roll value
2193  */
2194 void
2196 {
2197  data->r_ankle_roll = new_r_ankle_roll;
2198 }
2199 
2200 /** Get r_elbow_roll value.
2201  * Right elbow roll
2202  * @return r_elbow_roll value
2203  */
2204 float
2206 {
2207  return data->r_elbow_roll;
2208 }
2209 
2210 /** Get maximum length of r_elbow_roll value.
2211  * @return length of r_elbow_roll value, can be length of the array or number of
2212  * maximum number of characters for a string
2213  */
2214 size_t
2216 {
2217  return 1;
2218 }
2219 
2220 /** Set r_elbow_roll value.
2221  * Right elbow roll
2222  * @param new_r_elbow_roll new r_elbow_roll value
2223  */
2224 void
2226 {
2227  data->r_elbow_roll = new_r_elbow_roll;
2228 }
2229 
2230 /** Clone this message.
2231  * Produces a message of the same type as this message and copies the
2232  * data to the new message.
2233  * @return clone of this message
2234  */
2235 Message *
2237 {
2239 }
2240 /** Check if message is valid and can be enqueued.
2241  * @param message Message to check
2242  * @return true if the message is valid, false otherwise.
2243  */
2244 bool
2246 {
2247  const SetStiffnessMessage *m0 = dynamic_cast<const SetStiffnessMessage *>(message);
2248  if ( m0 != NULL ) {
2249  return true;
2250  }
2251  const SetBodyStiffnessMessage *m1 = dynamic_cast<const SetBodyStiffnessMessage *>(message);
2252  if ( m1 != NULL ) {
2253  return true;
2254  }
2255  const SetStiffnessesMessage *m2 = dynamic_cast<const SetStiffnessesMessage *>(message);
2256  if ( m2 != NULL ) {
2257  return true;
2258  }
2259  return false;
2260 }
2261 
2262 /// @cond INTERNALS
2263 EXPORT_INTERFACE(NaoJointStiffnessInterface)
2264 /// @endcond
2265 
2266 
2267 } // end namespace fawkes
float head_pitch() const
Get head_pitch value.
size_t maxlenof_r_elbow_roll() const
Get maximum length of r_elbow_roll value.
void set_l_shoulder_pitch(const float new_l_shoulder_pitch)
Set l_shoulder_pitch value.
size_t maxlenof_l_hand() const
Get maximum length of l_hand 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_elbow_yaw(const float new_r_elbow_yaw)
Set r_elbow_yaw value.
void * data_ptr
Pointer to memory that contains local data.
Definition: message.h:124
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.
size_t maxlenof_r_hip_roll() const
Get maximum length of r_hip_roll 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.
void set_hash(unsigned char *ihash)
Set hash.
Definition: interface.cpp:314
size_t maxlenof_l_elbow_roll() const
Get maximum length of l_elbow_roll 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.
Timestamp data, must be present and first entries for each interface data structs! This leans on time...
Definition: message.h:129
float l_wrist_yaw() const
Get l_wrist_yaw value.
unsigned int data_size
Minimal data size to hold data storage.
Definition: interface.h:221
void set_r_hip_yaw_pitch(const float new_r_hip_yaw_pitch)
Set r_hip_yaw_pitch value.
void set_r_elbow_roll(const float new_r_elbow_roll)
Set r_elbow_roll value.
void set_head_pitch(const float new_head_pitch)
Set head_pitch value.
size_t maxlenof_r_hip_yaw_pitch() const
Get maximum length of r_hip_yaw_pitch value.
void set_l_hip_roll(const float new_l_hip_roll)
Set l_hip_roll value.
void set_l_ankle_roll(const float new_l_ankle_roll)
Set l_ankle_roll 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_wrist_yaw() const
Get maximum length of l_wrist_yaw 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.
size_t maxlenof_r_elbow_yaw() const
Get maximum length of r_elbow_yaw value.
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.
float r_ankle_pitch() const
Get r_ankle_pitch value.
void set_l_hip_yaw_pitch(const float new_l_hip_yaw_pitch)
Set l_hip_yaw_pitch value.
float r_hip_roll() const
Get r_hip_roll value.
float l_elbow_yaw() const
Get l_elbow_yaw value.
size_t maxlenof_l_ankle_roll() const
Get maximum length of l_ankle_roll value.
void set_l_hip_pitch(const float new_l_hip_pitch)
Set l_hip_pitch value.
size_t maxlenof_value() const
Get maximum length of value value.
float r_shoulder_pitch() const
Get r_shoulder_pitch value.
void set_r_knee_pitch(const float new_r_knee_pitch)
Set r_knee_pitch value.
message_data_ts_t * data_ts
data timestamp aliasing pointer
Definition: message.h:133
void add_fieldinfo(interface_fieldtype_t type, const char *name, size_t length, void *value, const char *enumtype=0, const interface_enum_map_t *enum_map=0)
Add an entry to the field info list.
Definition: interface.cpp:335
unsigned int data_size
Size of memory needed to hold all data.
Definition: message.h:125
size_t maxlenof_r_shoulder_pitch() const
Get maximum length of r_shoulder_pitch value.
void set_time_sec(const float new_time_sec)
Set time_sec 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.
size_t maxlenof_time_sec() const
Get maximum length of time_sec value.
void add_messageinfo(const char *name)
Add an entry to the message info list.
Definition: interface.cpp:373
bool data_changed
Indicator if data has changed.
Definition: interface.h:222
size_t maxlenof_r_elbow_roll() const
Get maximum length of r_elbow_roll value.
void set_r_elbow_yaw(const float new_r_elbow_yaw)
Set r_elbow_yaw value.
size_t maxlenof_l_hip_pitch() const
Get maximum length of l_hip_pitch value.
const char * type() const
Get type of interface.
Definition: interface.cpp:651
float r_elbow_roll() const
Get r_elbow_roll value.
void * data_ptr
Pointer to local memory storage.
Definition: interface.h:220
size_t maxlenof_r_knee_pitch() const
Get maximum length of r_knee_pitch 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.
void set_time_sec(const float new_time_sec)
Set time_sec value.
float l_elbow_roll() const
Get l_elbow_roll value.
void set_l_elbow_yaw(const float new_l_elbow_yaw)
Set l_elbow_yaw value.
size_t maxlenof_l_shoulder_pitch() const
Get maximum length of l_shoulder_pitch 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_value() const
Get maximum length of value 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.
size_t maxlenof_r_wrist_yaw() const
Get maximum length of r_wrist_yaw 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.
void set_time_sec(const float new_time_sec)
Set time_sec value.
size_t maxlenof_r_ankle_pitch() const
Get maximum length of r_ankle_pitch value.
size_t maxlenof_l_elbow_yaw() const
Get maximum length of l_elbow_yaw value.
size_t maxlenof_l_knee_pitch() const
Get maximum length of l_knee_pitch value.
void set_r_hip_pitch(const float new_r_hip_pitch)
Set r_hip_pitch value.
size_t maxlenof_l_shoulder_roll() const
Get maximum length of l_shoulder_roll value.
float field
Definition: types.h:45
void set_l_knee_pitch(const float new_l_knee_pitch)
Set l_knee_pitch value.
size_t maxlenof_l_hip_roll() const
Get maximum length of l_hip_roll value.
void set_l_hip_yaw_pitch(const float new_l_hip_yaw_pitch)
Set l_hip_yaw_pitch value.
size_t maxlenof_r_hip_pitch() const
Get maximum length of r_hip_pitch value.
size_t maxlenof_time_sec() const
Get maximum length of time_sec value.
size_t maxlenof_r_shoulder_roll() const
Get maximum length of r_shoulder_roll value.
size_t maxlenof_time_sec() const
Get maximum length of time_sec value.
float l_knee_pitch() const
Get l_knee_pitch value.
float l_ankle_roll() const
Get l_ankle_roll value.
size_t maxlenof_r_hip_pitch() const
Get maximum length of r_hip_pitch 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.
void set_r_shoulder_pitch(const float new_r_shoulder_pitch)
Set r_shoulder_pitch value.
float r_shoulder_roll() const
Get r_shoulder_roll value.
void set_r_hip_roll(const float new_r_hip_roll)
Set r_hip_roll value.
void set_r_ankle_pitch(const float new_r_ankle_pitch)
Set r_ankle_pitch value.
void set_l_hip_pitch(const float new_l_hip_pitch)
Set l_hip_pitch value.
void set_l_shoulder_roll(const float new_l_shoulder_roll)
Set l_shoulder_roll value.
void set_l_shoulder_pitch(const float new_l_shoulder_pitch)
Set l_shoulder_pitch value.
void set_l_knee_pitch(const float new_l_knee_pitch)
Set l_knee_pitch value.
void set_servo(const uint32_t new_servo)
Set servo value.
void set_l_wrist_yaw(const float new_l_wrist_yaw)
Set l_wrist_yaw 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.
void set_r_shoulder_roll(const float new_r_shoulder_roll)
Set r_shoulder_roll value.
virtual void copy_values(const Interface *other)
Copy values from other interface.
void set_l_elbow_roll(const float new_l_elbow_roll)
Set l_elbow_roll 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.
void set_r_wrist_yaw(const float new_r_wrist_yaw)
Set r_wrist_yaw 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.
interface_data_ts_t * data_ts
Pointer to data casted to timestamp struct.
Definition: interface.h:224
void set_r_ankle_roll(const float new_r_ankle_roll)
Set r_ankle_roll value.
void add_fieldinfo(interface_fieldtype_t type, const char *name, size_t length, void *value, const char *enumtype=0, const interface_enum_map_t *enum_map=0)
Add an entry to the info list.
Definition: message.cpp:436
size_t maxlenof_r_ankle_pitch() const
Get maximum length of r_ankle_pitch value.
void set_l_hand(const float new_l_hand)
Set l_hand value.
size_t maxlenof_l_hip_yaw_pitch() const
Get maximum length of l_hip_yaw_pitch value.
size_t maxlenof_head_yaw() const
Get maximum length of head_yaw value.
void set_minimum(const float new_minimum)
Set minimum value.
SetStiffnessMessage Fawkes BlackBoard Interface Message.
size_t maxlenof_l_shoulder_roll() const
Get maximum length of l_shoulder_roll value.
size_t maxlenof_head_pitch() const
Get maximum length of head_pitch value.
size_t maxlenof_r_hand() const
Get maximum length of r_hand value.
size_t maxlenof_servo() const
Get maximum length of servo value.
void set_head_yaw(const float new_head_yaw)
Set head_yaw value.
void set_l_ankle_pitch(const float new_l_ankle_pitch)
Set l_ankle_pitch value.
float l_shoulder_roll() const
Get l_shoulder_roll value.
void set_r_hip_yaw_pitch(const float new_r_hip_yaw_pitch)
Set r_hip_yaw_pitch value.
32 bit unsigned integer field
Definition: types.h:42
void set_r_ankle_roll(const float new_r_ankle_roll)
Set r_ankle_roll value.
size_t maxlenof_r_ankle_roll() const
Get maximum length of r_ankle_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.
size_t maxlenof_l_ankle_pitch() const
Get maximum length of l_ankle_pitch value.