24 #ifndef __INTERFACES_HUMANOIDMOTIONINTERFACE_H_
25 #define __INTERFACES_HUMANOIDMOTIONINTERFACE_H_
27 #include <interface/interface.h>
28 #include <interface/message.h>
29 #include <interface/field_iterator.h>
60 int64_t timestamp_sec;
61 int64_t timestamp_usec;
70 } HumanoidMotionInterface_data_t;
73 HumanoidMotionInterface_data_t *data;
83 int64_t timestamp_sec;
84 int64_t timestamp_usec;
88 StopMessage_data_t *data;
105 int64_t timestamp_sec;
106 int64_t timestamp_usec;
108 } WalkStraightMessage_data_t;
111 WalkStraightMessage_data_t *data;
132 int64_t timestamp_sec;
133 int64_t timestamp_usec;
135 } WalkSidewaysMessage_data_t;
138 WalkSidewaysMessage_data_t *data;
159 int64_t timestamp_sec;
160 int64_t timestamp_usec;
163 } WalkArcMessage_data_t;
166 WalkArcMessage_data_t *data;
190 int64_t timestamp_sec;
191 int64_t timestamp_usec;
204 } WalkVelocityMessage_data_t;
207 WalkVelocityMessage_data_t *data;
210 WalkVelocityMessage(
const float ini_x,
const float ini_y,
const float ini_theta,
const float ini_speed);
217 void set_x(
const float new_x);
220 void set_y(
const float new_y);
237 int64_t timestamp_sec;
238 int64_t timestamp_usec;
240 } TurnMessage_data_t;
243 TurnMessage_data_t *data;
264 int64_t timestamp_sec;
265 int64_t timestamp_usec;
268 } KickMessage_data_t;
271 KickMessage_data_t *data;
295 int64_t timestamp_sec;
296 int64_t timestamp_usec;
297 } ParkMessage_data_t;
300 ParkMessage_data_t *data;
317 int64_t timestamp_sec;
318 int64_t timestamp_usec;
319 } GetUpMessage_data_t;
322 GetUpMessage_data_t *data;
339 int64_t timestamp_sec;
340 int64_t timestamp_usec;
342 } StandupMessage_data_t;
345 StandupMessage_data_t *data;
366 int64_t timestamp_sec;
367 int64_t timestamp_usec;
371 } MoveHeadMessage_data_t;
374 MoveHeadMessage_data_t *data;
377 MoveHeadMessage(
const float ini_yaw,
const float ini_pitch,
const float ini_speed);
384 void set_yaw(
const float new_yaw);
408 uint32_t
msgid()
const;
409 void set_msgid(
const uint32_t new_msgid);
414 virtual const char *
enum_tostring(
const char *enumtype,
int val)
const;