24 #ifndef __INTERFACES_MOTORINTERFACE_H_
25 #define __INTERFACES_MOTORINTERFACE_H_
27 #include <interface/interface.h>
28 #include <interface/message.h>
29 #include <interface/field_iterator.h>
53 int64_t timestamp_sec;
54 int64_t timestamp_usec;
100 } MotorInterface_data_t;
103 MotorInterface_data_t *data;
113 int64_t timestamp_sec;
114 int64_t timestamp_usec;
118 } SetMotorStateMessage_data_t;
121 SetMotorStateMessage_data_t *data;
142 int64_t timestamp_sec;
143 int64_t timestamp_usec;
153 } AcquireControlMessage_data_t;
156 AcquireControlMessage_data_t *data;
180 int64_t timestamp_sec;
181 int64_t timestamp_usec;
182 } ResetOdometryMessage_data_t;
185 ResetOdometryMessage_data_t *data;
202 int64_t timestamp_sec;
203 int64_t timestamp_usec;
207 } DriveRPMMessage_data_t;
210 DriveRPMMessage_data_t *data;
213 DriveRPMMessage(
const float ini_front_right,
const float ini_front_left,
const float ini_rear);
226 void set_rear(
const float new_rear);
237 int64_t timestamp_sec;
238 int64_t timestamp_usec;
243 } GotoMessage_data_t;
246 GotoMessage_data_t *data;
249 GotoMessage(
const float ini_x,
const float ini_y,
const float ini_phi,
const float ini_time_sec);
256 void set_x(
const float new_x);
259 void set_y(
const float new_y);
262 void set_phi(
const float new_phi);
276 int64_t timestamp_sec;
277 int64_t timestamp_usec;
280 } TransMessage_data_t;
283 TransMessage_data_t *data;
293 void set_vx(
const float new_vx);
296 void set_vy(
const float new_vy);
307 int64_t timestamp_sec;
308 int64_t timestamp_usec;
313 RotMessage_data_t *data;
334 int64_t timestamp_sec;
335 int64_t timestamp_usec;
339 } TransRotMessage_data_t;
342 TransRotMessage_data_t *data;
345 TransRotMessage(
const float ini_vx,
const float ini_vy,
const float ini_omega);
352 void set_vx(
const float new_vx);
355 void set_vy(
const float new_vy);
369 int64_t timestamp_sec;
370 int64_t timestamp_usec;
374 } OrbitMessage_data_t;
377 OrbitMessage_data_t *data;
380 OrbitMessage(
const float ini_px,
const float ini_py,
const float ini_omega);
387 void set_px(
const float new_px);
390 void set_py(
const float new_py);
404 int64_t timestamp_sec;
405 int64_t timestamp_usec;
409 } LinTransRotMessage_data_t;
412 LinTransRotMessage_data_t *data;
422 void set_vx(
const float new_vx);
425 void set_vy(
const float new_vy);
468 void set_vx(
const float new_vx);
471 void set_vy(
const float new_vy);
485 virtual const char *
enum_tostring(
const char *enumtype,
int val)
const;