Fawkes API  Fawkes Development Version
types.h
00001 
00002 /***************************************************************************
00003  *  types.h - Definition of simple types
00004  *
00005  *  Created: Thu Dec 02 13:51:46 2010
00006  *  Copyright  2010  Bahram Maleki-Fard
00007  *
00008  ****************************************************************************/
00009 
00010 /*  This program is free software; you can redistribute it and/or modify
00011  *  it under the terms of the GNU General Public License as published by
00012  *  the Free Software Foundation; either version 2 of the License, or
00013  *  (at your option) any later version. A runtime exception applies to
00014  *  this software (see LICENSE.GPL_WRE file mentioned below for details).
00015  *
00016  *  This program is distributed in the hope that it will be useful,
00017  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
00018  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00019  *  GNU Library General Public License for more details.
00020  *
00021  *  Read the full text in the LICENSE.GPL_WRE file in the doc directory.
00022  */
00023 
00024 #ifndef __PLUGINS_OPENRAVE_TYPES_H_
00025 #define __PLUGINS_OPENRAVE_TYPES_H_
00026 
00027 #include <openrave/openrave.h>
00028 
00029 #include <vector>
00030 #include <string>
00031 
00032 namespace fawkes {
00033 #if 0 /* just to make Emacs auto-indent happy */
00034 }
00035 #endif
00036 
00037 class OpenRaveManipulator;
00038 
00039 /** Euler rotations. */
00040 typedef enum {
00041   EULER_ZXZ,            /**< ZXZ rotation */
00042   EULER_ZYZ,            /**< ZYZ rotation */
00043   EULER_ZYX             /**< ZYX rotation */
00044 } euler_rotation_t;
00045 
00046 /** Target types. */
00047 typedef enum {
00048   TARGET_NONE,          /**< No valid target */
00049   TARGET_JOINTS,        /**< Target: motor joint values */
00050   TARGET_TRANSFORM,     /**< Target: absolute endeffector translation and rotation */
00051   TARGET_RELATIVE,      /**< Target: relative endeffector translation, based on robot's coordinate system */
00052   TARGET_RELATIVE_EXT,  /**< Target: relative endeffector translation, based on arm extension */
00053   TARGET_IKPARAM        /**< Target: OpenRAVE::IkParameterization string */
00054 } target_type_t;
00055 
00056 
00057 /** Struct containing angle of current motor, its number in OpenRAVE and
00058  * corresponding motor number of real devices. */
00059 typedef struct {
00060   unsigned int  no;         /**< motor number in OpenRAVE */
00061   unsigned int  no_device;  /**< motor number of real device */
00062   float         angle;      /**< radian angle */
00063 } motor_t;
00064 
00065 
00066 /** Struct containing information about the current target. */
00067 typedef struct {
00068   float x;   /**< translation on x-axis */
00069   float y;   /**< translation on y-axis */
00070   float z;   /**< translation on z-axis */
00071   float qx;  /**< x value of quaternion */
00072   float qy;  /**< y value of quaternion */
00073   float qz;  /**< z value of quaternion */
00074   float qw;  /**< w value of quaternion */
00075   bool solvable;               /**< target IK solvable */
00076   OpenRaveManipulator* manip;  /**< target manipulator configuration */
00077   target_type_t        type;   /**< target type */
00078   OpenRAVE::IkParameterization ikparam;  /**< OpenRAVE::IkParameterization; each target is implicitly transformed to one by OpenRAVE */
00079   std::string plannerparams;  /**< additional string to be passed to planner, i.e. BaseManipulation module */
00080 } target_t;
00081 
00082 } // end namespace firevision
00083 
00084 #endif