Fawkes API  Fawkes Development Version
fawkes::NaoJointPositionInterface::NaoJointPositionInterface_data_t Struct Reference

Internal data storage, do NOT modify! More...

List of all members.

Public Attributes

int64_t timestamp_sec
 Interface Unix timestamp, seconds.
int64_t timestamp_usec
 Interface Unix timestamp, micro-seconds.
int32_t robot_type
 Robot type.
uint8_t robot_version [4]
 Robot version.
float head_yaw
 Head yaw.
float head_pitch
 Head pitch.
float l_shoulder_pitch
 Left shoulder pitch.
float l_shoulder_roll
 Left shoulder roll.
float l_elbow_yaw
 Left elbow yaw.
float l_elbow_roll
 Left elbow roll.
float l_wrist_yaw
 Left wrist yaw.
float l_hand
 Left hand.
float l_hip_yaw_pitch
 Left hip yaw pitch.
float l_hip_roll
 Left hip roll.
float l_hip_pitch
 Left hip pitch.
float l_knee_pitch
 Left knee pitch.
float l_ankle_pitch
 Left ankle pitch.
float l_ankle_roll
 Left ankle roll.
float r_shoulder_pitch
 Right shoulder pitch.
float r_shoulder_roll
 Right shoulder roll.
float r_elbow_yaw
 Right elbow yaw.
float r_elbow_roll
 Right elbow roll.
float r_wrist_yaw
 Right wrist yaw.
float r_hand
 Right hand.
float r_hip_yaw_pitch
 Right hip yaw pitch.
float r_hip_roll
 Right hip roll.
float r_hip_pitch
 Right hip pitch.
float r_knee_pitch
 Right knee pitch.
float r_ankle_pitch
 Right ankle pitch.
float r_ankle_roll
 Right ankle roll.
int32_t time
 Current reference time in ms.

Detailed Description

Internal data storage, do NOT modify!


Member Data Documentation

Robot version.

Fields are in ascending array index major, minor, micro and patch level. Currently only the first two are used by Aldebaran, but due to struct alignment we add two extra bytes.

Definition at line 90 of file NaoJointPositionInterface.h.

Current reference time in ms.

For real hardware this is the DCM time. Times in messages are always offsets to the current time and the current time is added before executing the command.

Definition at line 121 of file NaoJointPositionInterface.h.

Referenced by fawkes::NaoJointPositionInterface::SetServoMessage::time(), fawkes::NaoJointPositionInterface::SetServoMessage::set_time(), fawkes::NaoJointPositionInterface::SetServosMessage::time(), and fawkes::NaoJointPositionInterface::SetServosMessage::set_time().


The documentation for this struct was generated from the following file: