Fawkes API
Fawkes Development Version
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Internal data storage, do NOT modify! More...
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. |
Internal data storage, do NOT modify!
Head pitch.
Definition at line 96 of file NaoJointPositionInterface.h.
Referenced by fawkes::NaoJointPositionInterface::SetServosMessage::head_pitch(), fawkes::NaoJointPositionInterface::SetServosMessage::set_head_pitch(), fawkes::NaoJointPositionInterface::MoveServosMessage::head_pitch(), and fawkes::NaoJointPositionInterface::MoveServosMessage::set_head_pitch().
Head yaw.
Definition at line 95 of file NaoJointPositionInterface.h.
Referenced by fawkes::NaoJointPositionInterface::SetServosMessage::head_yaw(), fawkes::NaoJointPositionInterface::SetServosMessage::set_head_yaw(), fawkes::NaoJointPositionInterface::MoveServosMessage::head_yaw(), and fawkes::NaoJointPositionInterface::MoveServosMessage::set_head_yaw().
Left ankle pitch.
Definition at line 107 of file NaoJointPositionInterface.h.
Referenced by fawkes::NaoJointPositionInterface::SetServosMessage::l_ankle_pitch(), fawkes::NaoJointPositionInterface::SetServosMessage::set_l_ankle_pitch(), fawkes::NaoJointPositionInterface::MoveServosMessage::l_ankle_pitch(), and fawkes::NaoJointPositionInterface::MoveServosMessage::set_l_ankle_pitch().
Left ankle roll.
Definition at line 108 of file NaoJointPositionInterface.h.
Referenced by fawkes::NaoJointPositionInterface::SetServosMessage::l_ankle_roll(), fawkes::NaoJointPositionInterface::SetServosMessage::set_l_ankle_roll(), fawkes::NaoJointPositionInterface::MoveServosMessage::l_ankle_roll(), and fawkes::NaoJointPositionInterface::MoveServosMessage::set_l_ankle_roll().
Left elbow roll.
Definition at line 100 of file NaoJointPositionInterface.h.
Referenced by fawkes::NaoJointPositionInterface::SetServosMessage::l_elbow_roll(), fawkes::NaoJointPositionInterface::SetServosMessage::set_l_elbow_roll(), fawkes::NaoJointPositionInterface::MoveServosMessage::l_elbow_roll(), and fawkes::NaoJointPositionInterface::MoveServosMessage::set_l_elbow_roll().
Left elbow yaw.
Definition at line 99 of file NaoJointPositionInterface.h.
Referenced by fawkes::NaoJointPositionInterface::SetServosMessage::l_elbow_yaw(), fawkes::NaoJointPositionInterface::SetServosMessage::set_l_elbow_yaw(), fawkes::NaoJointPositionInterface::MoveServosMessage::l_elbow_yaw(), and fawkes::NaoJointPositionInterface::MoveServosMessage::set_l_elbow_yaw().
Left hand.
Definition at line 102 of file NaoJointPositionInterface.h.
Referenced by fawkes::NaoJointPositionInterface::SetServosMessage::l_hand(), fawkes::NaoJointPositionInterface::SetServosMessage::set_l_hand(), fawkes::NaoJointPositionInterface::MoveServosMessage::l_hand(), and fawkes::NaoJointPositionInterface::MoveServosMessage::set_l_hand().
Left hip pitch.
Definition at line 105 of file NaoJointPositionInterface.h.
Referenced by fawkes::NaoJointPositionInterface::SetServosMessage::l_hip_pitch(), fawkes::NaoJointPositionInterface::SetServosMessage::set_l_hip_pitch(), fawkes::NaoJointPositionInterface::MoveServosMessage::l_hip_pitch(), and fawkes::NaoJointPositionInterface::MoveServosMessage::set_l_hip_pitch().
Left hip roll.
Definition at line 104 of file NaoJointPositionInterface.h.
Referenced by fawkes::NaoJointPositionInterface::SetServosMessage::l_hip_roll(), fawkes::NaoJointPositionInterface::SetServosMessage::set_l_hip_roll(), fawkes::NaoJointPositionInterface::MoveServosMessage::l_hip_roll(), and fawkes::NaoJointPositionInterface::MoveServosMessage::set_l_hip_roll().
Left hip yaw pitch.
Definition at line 103 of file NaoJointPositionInterface.h.
Referenced by fawkes::NaoJointPositionInterface::SetServosMessage::l_hip_yaw_pitch(), fawkes::NaoJointPositionInterface::SetServosMessage::set_l_hip_yaw_pitch(), fawkes::NaoJointPositionInterface::MoveServosMessage::l_hip_yaw_pitch(), and fawkes::NaoJointPositionInterface::MoveServosMessage::set_l_hip_yaw_pitch().
Left knee pitch.
Definition at line 106 of file NaoJointPositionInterface.h.
Referenced by fawkes::NaoJointPositionInterface::SetServosMessage::l_knee_pitch(), fawkes::NaoJointPositionInterface::SetServosMessage::set_l_knee_pitch(), fawkes::NaoJointPositionInterface::MoveServosMessage::l_knee_pitch(), and fawkes::NaoJointPositionInterface::MoveServosMessage::set_l_knee_pitch().
Left shoulder pitch.
Definition at line 97 of file NaoJointPositionInterface.h.
Referenced by fawkes::NaoJointPositionInterface::SetServosMessage::l_shoulder_pitch(), fawkes::NaoJointPositionInterface::SetServosMessage::set_l_shoulder_pitch(), fawkes::NaoJointPositionInterface::MoveServosMessage::l_shoulder_pitch(), and fawkes::NaoJointPositionInterface::MoveServosMessage::set_l_shoulder_pitch().
Left shoulder roll.
Definition at line 98 of file NaoJointPositionInterface.h.
Referenced by fawkes::NaoJointPositionInterface::SetServosMessage::l_shoulder_roll(), fawkes::NaoJointPositionInterface::SetServosMessage::set_l_shoulder_roll(), fawkes::NaoJointPositionInterface::MoveServosMessage::l_shoulder_roll(), and fawkes::NaoJointPositionInterface::MoveServosMessage::set_l_shoulder_roll().
Left wrist yaw.
Definition at line 101 of file NaoJointPositionInterface.h.
Referenced by fawkes::NaoJointPositionInterface::SetServosMessage::l_wrist_yaw(), fawkes::NaoJointPositionInterface::SetServosMessage::set_l_wrist_yaw(), fawkes::NaoJointPositionInterface::MoveServosMessage::l_wrist_yaw(), and fawkes::NaoJointPositionInterface::MoveServosMessage::set_l_wrist_yaw().
Right ankle pitch.
Definition at line 119 of file NaoJointPositionInterface.h.
Referenced by fawkes::NaoJointPositionInterface::SetServosMessage::r_ankle_pitch(), fawkes::NaoJointPositionInterface::SetServosMessage::set_r_ankle_pitch(), fawkes::NaoJointPositionInterface::MoveServosMessage::r_ankle_pitch(), and fawkes::NaoJointPositionInterface::MoveServosMessage::set_r_ankle_pitch().
Right ankle roll.
Definition at line 120 of file NaoJointPositionInterface.h.
Referenced by fawkes::NaoJointPositionInterface::SetServosMessage::r_ankle_roll(), fawkes::NaoJointPositionInterface::SetServosMessage::set_r_ankle_roll(), fawkes::NaoJointPositionInterface::MoveServosMessage::r_ankle_roll(), and fawkes::NaoJointPositionInterface::MoveServosMessage::set_r_ankle_roll().
Right elbow roll.
Definition at line 112 of file NaoJointPositionInterface.h.
Referenced by fawkes::NaoJointPositionInterface::SetServosMessage::r_elbow_roll(), fawkes::NaoJointPositionInterface::SetServosMessage::set_r_elbow_roll(), fawkes::NaoJointPositionInterface::MoveServosMessage::r_elbow_roll(), and fawkes::NaoJointPositionInterface::MoveServosMessage::set_r_elbow_roll().
Right elbow yaw.
Definition at line 111 of file NaoJointPositionInterface.h.
Referenced by fawkes::NaoJointPositionInterface::SetServosMessage::r_elbow_yaw(), fawkes::NaoJointPositionInterface::SetServosMessage::set_r_elbow_yaw(), fawkes::NaoJointPositionInterface::MoveServosMessage::r_elbow_yaw(), and fawkes::NaoJointPositionInterface::MoveServosMessage::set_r_elbow_yaw().
Right hand.
Definition at line 114 of file NaoJointPositionInterface.h.
Referenced by fawkes::NaoJointPositionInterface::SetServosMessage::r_hand(), fawkes::NaoJointPositionInterface::SetServosMessage::set_r_hand(), fawkes::NaoJointPositionInterface::MoveServosMessage::r_hand(), and fawkes::NaoJointPositionInterface::MoveServosMessage::set_r_hand().
Right hip pitch.
Definition at line 117 of file NaoJointPositionInterface.h.
Referenced by fawkes::NaoJointPositionInterface::SetServosMessage::r_hip_pitch(), fawkes::NaoJointPositionInterface::SetServosMessage::set_r_hip_pitch(), fawkes::NaoJointPositionInterface::MoveServosMessage::r_hip_pitch(), and fawkes::NaoJointPositionInterface::MoveServosMessage::set_r_hip_pitch().
Right hip roll.
Definition at line 116 of file NaoJointPositionInterface.h.
Referenced by fawkes::NaoJointPositionInterface::SetServosMessage::r_hip_roll(), fawkes::NaoJointPositionInterface::SetServosMessage::set_r_hip_roll(), fawkes::NaoJointPositionInterface::MoveServosMessage::r_hip_roll(), and fawkes::NaoJointPositionInterface::MoveServosMessage::set_r_hip_roll().
Right hip yaw pitch.
Definition at line 115 of file NaoJointPositionInterface.h.
Referenced by fawkes::NaoJointPositionInterface::SetServosMessage::r_hip_yaw_pitch(), fawkes::NaoJointPositionInterface::SetServosMessage::set_r_hip_yaw_pitch(), fawkes::NaoJointPositionInterface::MoveServosMessage::r_hip_yaw_pitch(), and fawkes::NaoJointPositionInterface::MoveServosMessage::set_r_hip_yaw_pitch().
Right knee pitch.
Definition at line 118 of file NaoJointPositionInterface.h.
Referenced by fawkes::NaoJointPositionInterface::SetServosMessage::r_knee_pitch(), fawkes::NaoJointPositionInterface::SetServosMessage::set_r_knee_pitch(), fawkes::NaoJointPositionInterface::MoveServosMessage::r_knee_pitch(), and fawkes::NaoJointPositionInterface::MoveServosMessage::set_r_knee_pitch().
Right shoulder pitch.
Definition at line 109 of file NaoJointPositionInterface.h.
Referenced by fawkes::NaoJointPositionInterface::SetServosMessage::r_shoulder_pitch(), fawkes::NaoJointPositionInterface::SetServosMessage::set_r_shoulder_pitch(), fawkes::NaoJointPositionInterface::MoveServosMessage::r_shoulder_pitch(), and fawkes::NaoJointPositionInterface::MoveServosMessage::set_r_shoulder_pitch().
Right shoulder roll.
Definition at line 110 of file NaoJointPositionInterface.h.
Referenced by fawkes::NaoJointPositionInterface::SetServosMessage::r_shoulder_roll(), fawkes::NaoJointPositionInterface::SetServosMessage::set_r_shoulder_roll(), fawkes::NaoJointPositionInterface::MoveServosMessage::r_shoulder_roll(), and fawkes::NaoJointPositionInterface::MoveServosMessage::set_r_shoulder_roll().
Right wrist yaw.
Definition at line 113 of file NaoJointPositionInterface.h.
Referenced by fawkes::NaoJointPositionInterface::SetServosMessage::r_wrist_yaw(), fawkes::NaoJointPositionInterface::SetServosMessage::set_r_wrist_yaw(), fawkes::NaoJointPositionInterface::MoveServosMessage::r_wrist_yaw(), and fawkes::NaoJointPositionInterface::MoveServosMessage::set_r_wrist_yaw().
Robot type.
Definition at line 89 of file NaoJointPositionInterface.h.
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().
Interface Unix timestamp, seconds.
Definition at line 87 of file NaoJointPositionInterface.h.
Interface Unix timestamp, micro-seconds.
Definition at line 88 of file NaoJointPositionInterface.h.