24 #ifndef __INTERFACES_NAVIGATORINTERFACE_H_
25 #define __INTERFACES_NAVIGATORINTERFACE_H_
27 #include <interface/interface.h>
28 #include <interface/message.h>
29 #include <interface/field_iterator.h>
56 int64_t timestamp_sec;
57 int64_t timestamp_usec;
76 bool escaping_enabled;
80 } NavigatorInterface_data_t;
83 NavigatorInterface_data_t *data;
93 int64_t timestamp_sec;
94 int64_t timestamp_usec;
98 StopMessage_data_t *data;
115 int64_t timestamp_sec;
116 int64_t timestamp_usec;
120 } TurnMessage_data_t;
123 TurnMessage_data_t *data;
126 TurnMessage(
const float ini_angle,
const float ini_velocity);
147 int64_t timestamp_sec;
148 int64_t timestamp_usec;
152 } CartesianGotoMessage_data_t;
155 CartesianGotoMessage_data_t *data;
165 void set_x(
const float new_x);
168 void set_y(
const float new_y);
182 int64_t timestamp_sec;
183 int64_t timestamp_usec;
187 } PolarGotoMessage_data_t;
190 PolarGotoMessage_data_t *data;
193 PolarGotoMessage(
const float ini_phi,
const float ini_dist,
const float ini_orientation);
200 void set_phi(
const float new_phi);
203 void set_dist(
const float new_dist);
217 int64_t timestamp_sec;
218 int64_t timestamp_usec;
220 } PlaceGotoMessage_data_t;
223 PlaceGotoMessage_data_t *data;
232 char *
place()
const;
244 int64_t timestamp_sec;
245 int64_t timestamp_usec;
249 } ObstacleMessage_data_t;
252 ObstacleMessage_data_t *data;
255 ObstacleMessage(
const float ini_x,
const float ini_y,
const float ini_width);
262 void set_x(
const float new_x);
265 void set_y(
const float new_y);
279 int64_t timestamp_sec;
280 int64_t timestamp_usec;
281 } ResetOdometryMessage_data_t;
284 ResetOdometryMessage_data_t *data;
301 int64_t timestamp_sec;
302 int64_t timestamp_usec;
304 } SetMaxVelocityMessage_data_t;
307 SetMaxVelocityMessage_data_t *data;
328 int64_t timestamp_sec;
329 int64_t timestamp_usec;
330 bool escaping_enabled;
334 } SetEscapingMessage_data_t;
337 SetEscapingMessage_data_t *data;
358 int64_t timestamp_sec;
359 int64_t timestamp_usec;
362 } SetSecurityDistanceMessage_data_t;
365 SetSecurityDistanceMessage_data_t *data;
387 uint32_t
flags()
const;
388 void set_flags(
const uint32_t new_flags);
391 void set_x(
const float new_x);
394 void set_y(
const float new_y);
408 uint32_t
msgid()
const;
409 void set_msgid(
const uint32_t new_msgid);
429 virtual const char *
enum_tostring(
const char *enumtype,
int val)
const;