24 #ifndef __INTERFACES_NAOJOINTSTIFFNESSINTERFACE_H_
25 #define __INTERFACES_NAOJOINTSTIFFNESSINTERFACE_H_
27 #include <interface/interface.h>
28 #include <interface/message.h>
29 #include <interface/field_iterator.h>
45 int64_t timestamp_sec;
46 int64_t timestamp_usec;
77 } NaoJointStiffnessInterface_data_t;
80 NaoJointStiffnessInterface_data_t *data;
90 int64_t timestamp_sec;
91 int64_t timestamp_usec;
100 } SetStiffnessMessage_data_t;
103 SetStiffnessMessage_data_t *data;
106 SetStiffnessMessage(
const uint32_t ini_servo,
const float ini_value,
const float ini_time_sec);
112 uint32_t
servo()
const;
113 void set_servo(
const uint32_t new_servo);
130 int64_t timestamp_sec;
131 int64_t timestamp_usec;
134 } SetBodyStiffnessMessage_data_t;
137 SetBodyStiffnessMessage_data_t *data;
161 int64_t timestamp_sec;
162 int64_t timestamp_usec;
190 } SetStiffnessesMessage_data_t;
193 SetStiffnessesMessage_data_t *data;
196 SetStiffnessesMessage(
const float ini_time_sec,
const float ini_head_yaw,
const float ini_head_pitch,
const float ini_l_shoulder_pitch,
const float ini_l_shoulder_roll,
const float ini_l_elbow_yaw,
const float ini_l_elbow_roll,
const float ini_l_wrist_yaw,
const float ini_l_hand,
const float ini_l_hip_yaw_pitch,
const float ini_l_hip_roll,
const float ini_l_hip_pitch,
const float ini_l_knee_pitch,
const float ini_l_ankle_pitch,
const float ini_l_ankle_roll,
const float ini_r_shoulder_pitch,
const float ini_r_shoulder_roll,
const float ini_r_elbow_yaw,
const float ini_r_wrist_yaw,
const float ini_r_hand,
const float ini_r_hip_yaw_pitch,
const float ini_r_hip_roll,
const float ini_r_hip_pitch,
const float ini_r_knee_pitch,
const float ini_r_ankle_pitch,
const float ini_r_ankle_roll,
const float ini_r_elbow_roll);
377 virtual const char *
enum_tostring(
const char *enumtype,
int val)
const;