24 #ifndef __INTERFACES_NAOJOINTPOSITIONINTERFACE_H_
25 #define __INTERFACES_NAOJOINTPOSITIONINTERFACE_H_
27 #include <interface/interface.h>
28 #include <interface/message.h>
29 #include <interface/field_iterator.h>
87 int64_t timestamp_sec;
88 int64_t timestamp_usec;
126 } NaoJointPositionInterface_data_t;
129 NaoJointPositionInterface_data_t *data;
139 int64_t timestamp_sec;
140 int64_t timestamp_usec;
150 } SetServoMessage_data_t;
153 SetServoMessage_data_t *data;
156 SetServoMessage(
const uint32_t ini_servo,
const float ini_value,
const int32_t ini_time);
162 uint32_t
servo()
const;
163 void set_servo(
const uint32_t new_servo);
168 int32_t
time()
const;
169 void set_time(
const int32_t new_time);
180 int64_t timestamp_sec;
181 int64_t timestamp_usec;
213 } SetServosMessage_data_t;
216 SetServosMessage_data_t *data;
219 SetServosMessage(
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_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_l_wrist_yaw,
const float ini_l_hand,
const float ini_r_shoulder_pitch,
const float ini_r_shoulder_roll,
const float ini_r_elbow_yaw,
const float ini_r_elbow_roll,
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 int32_t ini_time);
303 int32_t
time()
const;
304 void set_time(
const int32_t new_time);
315 int64_t timestamp_sec;
316 int64_t timestamp_usec;
326 } MoveServoMessage_data_t;
329 MoveServoMessage_data_t *data;
332 MoveServoMessage(
const uint32_t ini_servo,
const float ini_value,
const float ini_speed);
338 uint32_t
servo()
const;
339 void set_servo(
const uint32_t new_servo);
356 int64_t timestamp_sec;
357 int64_t timestamp_usec;
387 } MoveServosMessage_data_t;
390 MoveServosMessage_data_t *data;
393 MoveServosMessage(
const float ini_speed,
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_elbow_roll,
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);
576 int32_t
time()
const;
577 void set_time(
const int32_t new_time);
582 virtual const char *
enum_tostring(
const char *enumtype,
int val)
const;