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types.h
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/***************************************************************************
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* types.h - Definition of simple types
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*
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* Created: Thu Dec 02 13:51:46 2010
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* Copyright 2010 Bahram Maleki-Fard
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*
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****************************************************************************/
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/* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version. A runtime exception applies to
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* this software (see LICENSE.GPL_WRE file mentioned below for details).
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU Library General Public License for more details.
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*
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* Read the full text in the LICENSE.GPL_WRE file in the doc directory.
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*/
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#ifndef __PLUGINS_OPENRAVE_TYPES_H_
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#define __PLUGINS_OPENRAVE_TYPES_H_
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#include <openrave/openrave.h>
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#include <vector>
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#include <string>
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namespace
fawkes {
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#if 0
/* just to make Emacs auto-indent happy */
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}
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#endif
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class
OpenRaveManipulator;
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/** Euler rotations. */
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typedef
enum
{
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EULER_ZXZ
,
/**< ZXZ rotation */
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EULER_ZYZ
,
/**< ZYZ rotation */
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EULER_ZYX
/**< ZYX rotation */
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} euler_rotation_t;
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/** Target types. */
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typedef
enum
{
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TARGET_NONE
,
/**< No valid target */
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TARGET_JOINTS
,
/**< Target: motor joint values */
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TARGET_TRANSFORM
,
/**< Target: absolute endeffector translation and rotation */
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TARGET_RELATIVE
,
/**< Target: relative endeffector translation, based on robot's coordinate system */
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TARGET_RELATIVE_EXT
,
/**< Target: relative endeffector translation, based on arm extension */
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TARGET_IKPARAM
/**< Target: OpenRAVE::IkParameterization string */
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} target_type_t;
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/** Struct containing angle of current motor, its number in OpenRAVE and
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* corresponding motor number of real devices. */
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typedef
struct
{
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unsigned
int
no
;
/**< motor number in OpenRAVE */
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unsigned
int
no_device
;
/**< motor number of real device */
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float
angle
;
/**< radian angle */
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}
motor_t
;
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/** Struct containing information about the current target. */
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typedef
struct
{
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float
x
;
/**< translation on x-axis */
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float
y
;
/**< translation on y-axis */
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float
z
;
/**< translation on z-axis */
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float
qx
;
/**< x value of quaternion */
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float
qy
;
/**< y value of quaternion */
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float
qz
;
/**< z value of quaternion */
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float
qw
;
/**< w value of quaternion */
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bool
solvable
;
/**< target IK solvable */
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OpenRaveManipulator
*
manip
;
/**< target manipulator configuration */
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target_type_t
type
;
/**< target type */
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OpenRAVE::IkParameterization
ikparam
;
/**< OpenRAVE::IkParameterization; each target is implicitly transformed to one by OpenRAVE */
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std::string
plannerparams
;
/**< additional string to be passed to planner, i.e. BaseManipulation module */
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}
target_t
;
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}
// end namespace firevision
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#endif
src
plugins
openrave
types.h
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