Fawkes API Fawkes Development Version
NaoJointStiffnessInterface.cpp
1
2/***************************************************************************
3 * NaoJointStiffnessInterface.cpp - Fawkes BlackBoard Interface - NaoJointStiffnessInterface
4 *
5 * Templated created: Thu Oct 12 10:49:19 2006
6 * Copyright 2008-2011 Tim Niemueller
7 *
8 ****************************************************************************/
9
10/* This program is free software; you can redistribute it and/or modify
11 * it under the terms of the GNU General Public License as published by
12 * the Free Software Foundation; either version 2 of the License, or
13 * (at your option) any later version. A runtime exception applies to
14 * this software (see LICENSE.GPL_WRE file mentioned below for details).
15 *
16 * This program is distributed in the hope that it will be useful,
17 * but WITHOUT ANY WARRANTY; without even the implied warranty of
18 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
19 * GNU Library General Public License for more details.
20 *
21 * Read the full text in the LICENSE.GPL_WRE file in the doc directory.
22 */
23
24#include <interfaces/NaoJointStiffnessInterface.h>
25
26#include <core/exceptions/software.h>
27
28#include <map>
29#include <string>
30#include <cstring>
31#include <cstdlib>
32
33namespace fawkes {
34
35/** @class NaoJointStiffnessInterface <interfaces/NaoJointStiffnessInterface.h>
36 * NaoJointStiffnessInterface Fawkes BlackBoard Interface.
37 *
38 This interface provides access to Nao joint stiffness.
39
40 * @ingroup FawkesInterfaces
41 */
42
43
44
45/** Constructor */
46NaoJointStiffnessInterface::NaoJointStiffnessInterface() : Interface()
47{
48 data_size = sizeof(NaoJointStiffnessInterface_data_t);
49 data_ptr = malloc(data_size);
50 data = (NaoJointStiffnessInterface_data_t *)data_ptr;
51 data_ts = (interface_data_ts_t *)data_ptr;
52 memset(data_ptr, 0, data_size);
53 add_fieldinfo(IFT_FLOAT, "head_yaw", 1, &data->head_yaw);
54 add_fieldinfo(IFT_FLOAT, "head_pitch", 1, &data->head_pitch);
55 add_fieldinfo(IFT_FLOAT, "l_shoulder_pitch", 1, &data->l_shoulder_pitch);
56 add_fieldinfo(IFT_FLOAT, "l_shoulder_roll", 1, &data->l_shoulder_roll);
57 add_fieldinfo(IFT_FLOAT, "l_elbow_yaw", 1, &data->l_elbow_yaw);
58 add_fieldinfo(IFT_FLOAT, "l_elbow_roll", 1, &data->l_elbow_roll);
59 add_fieldinfo(IFT_FLOAT, "l_wrist_yaw", 1, &data->l_wrist_yaw);
60 add_fieldinfo(IFT_FLOAT, "l_hand", 1, &data->l_hand);
61 add_fieldinfo(IFT_FLOAT, "l_hip_yaw_pitch", 1, &data->l_hip_yaw_pitch);
62 add_fieldinfo(IFT_FLOAT, "l_hip_roll", 1, &data->l_hip_roll);
63 add_fieldinfo(IFT_FLOAT, "l_hip_pitch", 1, &data->l_hip_pitch);
64 add_fieldinfo(IFT_FLOAT, "l_knee_pitch", 1, &data->l_knee_pitch);
65 add_fieldinfo(IFT_FLOAT, "l_ankle_pitch", 1, &data->l_ankle_pitch);
66 add_fieldinfo(IFT_FLOAT, "l_ankle_roll", 1, &data->l_ankle_roll);
67 add_fieldinfo(IFT_FLOAT, "r_shoulder_pitch", 1, &data->r_shoulder_pitch);
68 add_fieldinfo(IFT_FLOAT, "r_shoulder_roll", 1, &data->r_shoulder_roll);
69 add_fieldinfo(IFT_FLOAT, "r_elbow_yaw", 1, &data->r_elbow_yaw);
70 add_fieldinfo(IFT_FLOAT, "r_elbow_roll", 1, &data->r_elbow_roll);
71 add_fieldinfo(IFT_FLOAT, "r_wrist_yaw", 1, &data->r_wrist_yaw);
72 add_fieldinfo(IFT_FLOAT, "r_hand", 1, &data->r_hand);
73 add_fieldinfo(IFT_FLOAT, "r_hip_yaw_pitch", 1, &data->r_hip_yaw_pitch);
74 add_fieldinfo(IFT_FLOAT, "r_hip_roll", 1, &data->r_hip_roll);
75 add_fieldinfo(IFT_FLOAT, "r_hip_pitch", 1, &data->r_hip_pitch);
76 add_fieldinfo(IFT_FLOAT, "r_knee_pitch", 1, &data->r_knee_pitch);
77 add_fieldinfo(IFT_FLOAT, "r_ankle_pitch", 1, &data->r_ankle_pitch);
78 add_fieldinfo(IFT_FLOAT, "r_ankle_roll", 1, &data->r_ankle_roll);
79 add_fieldinfo(IFT_FLOAT, "minimum", 1, &data->minimum);
80 add_messageinfo("SetStiffnessMessage");
81 add_messageinfo("SetBodyStiffnessMessage");
82 add_messageinfo("SetStiffnessesMessage");
83 unsigned char tmp_hash[] = {0x29, 0x35, 0x74, 0x2f, 0x4e, 0x93, 0x53, 0xc4, 0x28, 0x56, 0xc8, 0x4a, 0x66, 0x81, 0xd6, 0x6d};
84 set_hash(tmp_hash);
85}
86
87/** Destructor */
88NaoJointStiffnessInterface::~NaoJointStiffnessInterface()
89{
90 free(data_ptr);
91}
92/* Methods */
93/** Get head_yaw value.
94 * Head yaw
95 * @return head_yaw value
96 */
97float
98NaoJointStiffnessInterface::head_yaw() const
99{
100 return data->head_yaw;
101}
102
103/** Get maximum length of head_yaw value.
104 * @return length of head_yaw value, can be length of the array or number of
105 * maximum number of characters for a string
106 */
107size_t
108NaoJointStiffnessInterface::maxlenof_head_yaw() const
109{
110 return 1;
111}
112
113/** Set head_yaw value.
114 * Head yaw
115 * @param new_head_yaw new head_yaw value
116 */
117void
118NaoJointStiffnessInterface::set_head_yaw(const float new_head_yaw)
119{
120 set_field(data->head_yaw, new_head_yaw);
121}
122
123/** Get head_pitch value.
124 * Head pitch
125 * @return head_pitch value
126 */
127float
128NaoJointStiffnessInterface::head_pitch() const
129{
130 return data->head_pitch;
131}
132
133/** Get maximum length of head_pitch value.
134 * @return length of head_pitch value, can be length of the array or number of
135 * maximum number of characters for a string
136 */
137size_t
138NaoJointStiffnessInterface::maxlenof_head_pitch() const
139{
140 return 1;
141}
142
143/** Set head_pitch value.
144 * Head pitch
145 * @param new_head_pitch new head_pitch value
146 */
147void
148NaoJointStiffnessInterface::set_head_pitch(const float new_head_pitch)
149{
150 set_field(data->head_pitch, new_head_pitch);
151}
152
153/** Get l_shoulder_pitch value.
154 * Left shoulder pitch
155 * @return l_shoulder_pitch value
156 */
157float
158NaoJointStiffnessInterface::l_shoulder_pitch() const
159{
160 return data->l_shoulder_pitch;
161}
162
163/** Get maximum length of l_shoulder_pitch value.
164 * @return length of l_shoulder_pitch value, can be length of the array or number of
165 * maximum number of characters for a string
166 */
167size_t
168NaoJointStiffnessInterface::maxlenof_l_shoulder_pitch() const
169{
170 return 1;
171}
172
173/** Set l_shoulder_pitch value.
174 * Left shoulder pitch
175 * @param new_l_shoulder_pitch new l_shoulder_pitch value
176 */
177void
178NaoJointStiffnessInterface::set_l_shoulder_pitch(const float new_l_shoulder_pitch)
179{
180 set_field(data->l_shoulder_pitch, new_l_shoulder_pitch);
181}
182
183/** Get l_shoulder_roll value.
184 * Left shoulder roll
185 * @return l_shoulder_roll value
186 */
187float
188NaoJointStiffnessInterface::l_shoulder_roll() const
189{
190 return data->l_shoulder_roll;
191}
192
193/** Get maximum length of l_shoulder_roll value.
194 * @return length of l_shoulder_roll value, can be length of the array or number of
195 * maximum number of characters for a string
196 */
197size_t
198NaoJointStiffnessInterface::maxlenof_l_shoulder_roll() const
199{
200 return 1;
201}
202
203/** Set l_shoulder_roll value.
204 * Left shoulder roll
205 * @param new_l_shoulder_roll new l_shoulder_roll value
206 */
207void
208NaoJointStiffnessInterface::set_l_shoulder_roll(const float new_l_shoulder_roll)
209{
210 set_field(data->l_shoulder_roll, new_l_shoulder_roll);
211}
212
213/** Get l_elbow_yaw value.
214 * Left elbow yaw
215 * @return l_elbow_yaw value
216 */
217float
218NaoJointStiffnessInterface::l_elbow_yaw() const
219{
220 return data->l_elbow_yaw;
221}
222
223/** Get maximum length of l_elbow_yaw value.
224 * @return length of l_elbow_yaw value, can be length of the array or number of
225 * maximum number of characters for a string
226 */
227size_t
228NaoJointStiffnessInterface::maxlenof_l_elbow_yaw() const
229{
230 return 1;
231}
232
233/** Set l_elbow_yaw value.
234 * Left elbow yaw
235 * @param new_l_elbow_yaw new l_elbow_yaw value
236 */
237void
238NaoJointStiffnessInterface::set_l_elbow_yaw(const float new_l_elbow_yaw)
239{
240 set_field(data->l_elbow_yaw, new_l_elbow_yaw);
241}
242
243/** Get l_elbow_roll value.
244 * Left elbow roll
245 * @return l_elbow_roll value
246 */
247float
248NaoJointStiffnessInterface::l_elbow_roll() const
249{
250 return data->l_elbow_roll;
251}
252
253/** Get maximum length of l_elbow_roll value.
254 * @return length of l_elbow_roll value, can be length of the array or number of
255 * maximum number of characters for a string
256 */
257size_t
258NaoJointStiffnessInterface::maxlenof_l_elbow_roll() const
259{
260 return 1;
261}
262
263/** Set l_elbow_roll value.
264 * Left elbow roll
265 * @param new_l_elbow_roll new l_elbow_roll value
266 */
267void
268NaoJointStiffnessInterface::set_l_elbow_roll(const float new_l_elbow_roll)
269{
270 set_field(data->l_elbow_roll, new_l_elbow_roll);
271}
272
273/** Get l_wrist_yaw value.
274 * Left wrist yaw
275 * @return l_wrist_yaw value
276 */
277float
278NaoJointStiffnessInterface::l_wrist_yaw() const
279{
280 return data->l_wrist_yaw;
281}
282
283/** Get maximum length of l_wrist_yaw value.
284 * @return length of l_wrist_yaw value, can be length of the array or number of
285 * maximum number of characters for a string
286 */
287size_t
288NaoJointStiffnessInterface::maxlenof_l_wrist_yaw() const
289{
290 return 1;
291}
292
293/** Set l_wrist_yaw value.
294 * Left wrist yaw
295 * @param new_l_wrist_yaw new l_wrist_yaw value
296 */
297void
298NaoJointStiffnessInterface::set_l_wrist_yaw(const float new_l_wrist_yaw)
299{
300 set_field(data->l_wrist_yaw, new_l_wrist_yaw);
301}
302
303/** Get l_hand value.
304 * Left hand
305 * @return l_hand value
306 */
307float
308NaoJointStiffnessInterface::l_hand() const
309{
310 return data->l_hand;
311}
312
313/** Get maximum length of l_hand value.
314 * @return length of l_hand value, can be length of the array or number of
315 * maximum number of characters for a string
316 */
317size_t
318NaoJointStiffnessInterface::maxlenof_l_hand() const
319{
320 return 1;
321}
322
323/** Set l_hand value.
324 * Left hand
325 * @param new_l_hand new l_hand value
326 */
327void
328NaoJointStiffnessInterface::set_l_hand(const float new_l_hand)
329{
330 set_field(data->l_hand, new_l_hand);
331}
332
333/** Get l_hip_yaw_pitch value.
334 * Left hip yaw pitch
335 * @return l_hip_yaw_pitch value
336 */
337float
338NaoJointStiffnessInterface::l_hip_yaw_pitch() const
339{
340 return data->l_hip_yaw_pitch;
341}
342
343/** Get maximum length of l_hip_yaw_pitch value.
344 * @return length of l_hip_yaw_pitch value, can be length of the array or number of
345 * maximum number of characters for a string
346 */
347size_t
348NaoJointStiffnessInterface::maxlenof_l_hip_yaw_pitch() const
349{
350 return 1;
351}
352
353/** Set l_hip_yaw_pitch value.
354 * Left hip yaw pitch
355 * @param new_l_hip_yaw_pitch new l_hip_yaw_pitch value
356 */
357void
358NaoJointStiffnessInterface::set_l_hip_yaw_pitch(const float new_l_hip_yaw_pitch)
359{
360 set_field(data->l_hip_yaw_pitch, new_l_hip_yaw_pitch);
361}
362
363/** Get l_hip_roll value.
364 * Left hip roll
365 * @return l_hip_roll value
366 */
367float
368NaoJointStiffnessInterface::l_hip_roll() const
369{
370 return data->l_hip_roll;
371}
372
373/** Get maximum length of l_hip_roll value.
374 * @return length of l_hip_roll value, can be length of the array or number of
375 * maximum number of characters for a string
376 */
377size_t
378NaoJointStiffnessInterface::maxlenof_l_hip_roll() const
379{
380 return 1;
381}
382
383/** Set l_hip_roll value.
384 * Left hip roll
385 * @param new_l_hip_roll new l_hip_roll value
386 */
387void
388NaoJointStiffnessInterface::set_l_hip_roll(const float new_l_hip_roll)
389{
390 set_field(data->l_hip_roll, new_l_hip_roll);
391}
392
393/** Get l_hip_pitch value.
394 * Left hip pitch
395 * @return l_hip_pitch value
396 */
397float
398NaoJointStiffnessInterface::l_hip_pitch() const
399{
400 return data->l_hip_pitch;
401}
402
403/** Get maximum length of l_hip_pitch value.
404 * @return length of l_hip_pitch value, can be length of the array or number of
405 * maximum number of characters for a string
406 */
407size_t
408NaoJointStiffnessInterface::maxlenof_l_hip_pitch() const
409{
410 return 1;
411}
412
413/** Set l_hip_pitch value.
414 * Left hip pitch
415 * @param new_l_hip_pitch new l_hip_pitch value
416 */
417void
418NaoJointStiffnessInterface::set_l_hip_pitch(const float new_l_hip_pitch)
419{
420 set_field(data->l_hip_pitch, new_l_hip_pitch);
421}
422
423/** Get l_knee_pitch value.
424 * Left knee pitch
425 * @return l_knee_pitch value
426 */
427float
428NaoJointStiffnessInterface::l_knee_pitch() const
429{
430 return data->l_knee_pitch;
431}
432
433/** Get maximum length of l_knee_pitch value.
434 * @return length of l_knee_pitch value, can be length of the array or number of
435 * maximum number of characters for a string
436 */
437size_t
438NaoJointStiffnessInterface::maxlenof_l_knee_pitch() const
439{
440 return 1;
441}
442
443/** Set l_knee_pitch value.
444 * Left knee pitch
445 * @param new_l_knee_pitch new l_knee_pitch value
446 */
447void
448NaoJointStiffnessInterface::set_l_knee_pitch(const float new_l_knee_pitch)
449{
450 set_field(data->l_knee_pitch, new_l_knee_pitch);
451}
452
453/** Get l_ankle_pitch value.
454 * Left ankle pitch
455 * @return l_ankle_pitch value
456 */
457float
458NaoJointStiffnessInterface::l_ankle_pitch() const
459{
460 return data->l_ankle_pitch;
461}
462
463/** Get maximum length of l_ankle_pitch value.
464 * @return length of l_ankle_pitch value, can be length of the array or number of
465 * maximum number of characters for a string
466 */
467size_t
468NaoJointStiffnessInterface::maxlenof_l_ankle_pitch() const
469{
470 return 1;
471}
472
473/** Set l_ankle_pitch value.
474 * Left ankle pitch
475 * @param new_l_ankle_pitch new l_ankle_pitch value
476 */
477void
478NaoJointStiffnessInterface::set_l_ankle_pitch(const float new_l_ankle_pitch)
479{
480 set_field(data->l_ankle_pitch, new_l_ankle_pitch);
481}
482
483/** Get l_ankle_roll value.
484 * Left ankle roll
485 * @return l_ankle_roll value
486 */
487float
488NaoJointStiffnessInterface::l_ankle_roll() const
489{
490 return data->l_ankle_roll;
491}
492
493/** Get maximum length of l_ankle_roll value.
494 * @return length of l_ankle_roll value, can be length of the array or number of
495 * maximum number of characters for a string
496 */
497size_t
498NaoJointStiffnessInterface::maxlenof_l_ankle_roll() const
499{
500 return 1;
501}
502
503/** Set l_ankle_roll value.
504 * Left ankle roll
505 * @param new_l_ankle_roll new l_ankle_roll value
506 */
507void
508NaoJointStiffnessInterface::set_l_ankle_roll(const float new_l_ankle_roll)
509{
510 set_field(data->l_ankle_roll, new_l_ankle_roll);
511}
512
513/** Get r_shoulder_pitch value.
514 * Right shoulder pitch
515 * @return r_shoulder_pitch value
516 */
517float
518NaoJointStiffnessInterface::r_shoulder_pitch() const
519{
520 return data->r_shoulder_pitch;
521}
522
523/** Get maximum length of r_shoulder_pitch value.
524 * @return length of r_shoulder_pitch value, can be length of the array or number of
525 * maximum number of characters for a string
526 */
527size_t
528NaoJointStiffnessInterface::maxlenof_r_shoulder_pitch() const
529{
530 return 1;
531}
532
533/** Set r_shoulder_pitch value.
534 * Right shoulder pitch
535 * @param new_r_shoulder_pitch new r_shoulder_pitch value
536 */
537void
538NaoJointStiffnessInterface::set_r_shoulder_pitch(const float new_r_shoulder_pitch)
539{
540 set_field(data->r_shoulder_pitch, new_r_shoulder_pitch);
541}
542
543/** Get r_shoulder_roll value.
544 * Right shoulder roll
545 * @return r_shoulder_roll value
546 */
547float
548NaoJointStiffnessInterface::r_shoulder_roll() const
549{
550 return data->r_shoulder_roll;
551}
552
553/** Get maximum length of r_shoulder_roll value.
554 * @return length of r_shoulder_roll value, can be length of the array or number of
555 * maximum number of characters for a string
556 */
557size_t
558NaoJointStiffnessInterface::maxlenof_r_shoulder_roll() const
559{
560 return 1;
561}
562
563/** Set r_shoulder_roll value.
564 * Right shoulder roll
565 * @param new_r_shoulder_roll new r_shoulder_roll value
566 */
567void
568NaoJointStiffnessInterface::set_r_shoulder_roll(const float new_r_shoulder_roll)
569{
570 set_field(data->r_shoulder_roll, new_r_shoulder_roll);
571}
572
573/** Get r_elbow_yaw value.
574 * Right elbow yaw
575 * @return r_elbow_yaw value
576 */
577float
578NaoJointStiffnessInterface::r_elbow_yaw() const
579{
580 return data->r_elbow_yaw;
581}
582
583/** Get maximum length of r_elbow_yaw value.
584 * @return length of r_elbow_yaw value, can be length of the array or number of
585 * maximum number of characters for a string
586 */
587size_t
588NaoJointStiffnessInterface::maxlenof_r_elbow_yaw() const
589{
590 return 1;
591}
592
593/** Set r_elbow_yaw value.
594 * Right elbow yaw
595 * @param new_r_elbow_yaw new r_elbow_yaw value
596 */
597void
598NaoJointStiffnessInterface::set_r_elbow_yaw(const float new_r_elbow_yaw)
599{
600 set_field(data->r_elbow_yaw, new_r_elbow_yaw);
601}
602
603/** Get r_elbow_roll value.
604 * Right elbow roll
605 * @return r_elbow_roll value
606 */
607float
608NaoJointStiffnessInterface::r_elbow_roll() const
609{
610 return data->r_elbow_roll;
611}
612
613/** Get maximum length of r_elbow_roll value.
614 * @return length of r_elbow_roll value, can be length of the array or number of
615 * maximum number of characters for a string
616 */
617size_t
618NaoJointStiffnessInterface::maxlenof_r_elbow_roll() const
619{
620 return 1;
621}
622
623/** Set r_elbow_roll value.
624 * Right elbow roll
625 * @param new_r_elbow_roll new r_elbow_roll value
626 */
627void
628NaoJointStiffnessInterface::set_r_elbow_roll(const float new_r_elbow_roll)
629{
630 set_field(data->r_elbow_roll, new_r_elbow_roll);
631}
632
633/** Get r_wrist_yaw value.
634 * Right wrist yaw
635 * @return r_wrist_yaw value
636 */
637float
638NaoJointStiffnessInterface::r_wrist_yaw() const
639{
640 return data->r_wrist_yaw;
641}
642
643/** Get maximum length of r_wrist_yaw value.
644 * @return length of r_wrist_yaw value, can be length of the array or number of
645 * maximum number of characters for a string
646 */
647size_t
648NaoJointStiffnessInterface::maxlenof_r_wrist_yaw() const
649{
650 return 1;
651}
652
653/** Set r_wrist_yaw value.
654 * Right wrist yaw
655 * @param new_r_wrist_yaw new r_wrist_yaw value
656 */
657void
658NaoJointStiffnessInterface::set_r_wrist_yaw(const float new_r_wrist_yaw)
659{
660 set_field(data->r_wrist_yaw, new_r_wrist_yaw);
661}
662
663/** Get r_hand value.
664 * Right hand
665 * @return r_hand value
666 */
667float
668NaoJointStiffnessInterface::r_hand() const
669{
670 return data->r_hand;
671}
672
673/** Get maximum length of r_hand value.
674 * @return length of r_hand value, can be length of the array or number of
675 * maximum number of characters for a string
676 */
677size_t
678NaoJointStiffnessInterface::maxlenof_r_hand() const
679{
680 return 1;
681}
682
683/** Set r_hand value.
684 * Right hand
685 * @param new_r_hand new r_hand value
686 */
687void
688NaoJointStiffnessInterface::set_r_hand(const float new_r_hand)
689{
690 set_field(data->r_hand, new_r_hand);
691}
692
693/** Get r_hip_yaw_pitch value.
694 * Right hip yaw pitch
695 * @return r_hip_yaw_pitch value
696 */
697float
698NaoJointStiffnessInterface::r_hip_yaw_pitch() const
699{
700 return data->r_hip_yaw_pitch;
701}
702
703/** Get maximum length of r_hip_yaw_pitch value.
704 * @return length of r_hip_yaw_pitch value, can be length of the array or number of
705 * maximum number of characters for a string
706 */
707size_t
708NaoJointStiffnessInterface::maxlenof_r_hip_yaw_pitch() const
709{
710 return 1;
711}
712
713/** Set r_hip_yaw_pitch value.
714 * Right hip yaw pitch
715 * @param new_r_hip_yaw_pitch new r_hip_yaw_pitch value
716 */
717void
718NaoJointStiffnessInterface::set_r_hip_yaw_pitch(const float new_r_hip_yaw_pitch)
719{
720 set_field(data->r_hip_yaw_pitch, new_r_hip_yaw_pitch);
721}
722
723/** Get r_hip_roll value.
724 * Right hip roll
725 * @return r_hip_roll value
726 */
727float
728NaoJointStiffnessInterface::r_hip_roll() const
729{
730 return data->r_hip_roll;
731}
732
733/** Get maximum length of r_hip_roll value.
734 * @return length of r_hip_roll value, can be length of the array or number of
735 * maximum number of characters for a string
736 */
737size_t
738NaoJointStiffnessInterface::maxlenof_r_hip_roll() const
739{
740 return 1;
741}
742
743/** Set r_hip_roll value.
744 * Right hip roll
745 * @param new_r_hip_roll new r_hip_roll value
746 */
747void
748NaoJointStiffnessInterface::set_r_hip_roll(const float new_r_hip_roll)
749{
750 set_field(data->r_hip_roll, new_r_hip_roll);
751}
752
753/** Get r_hip_pitch value.
754 * Right hip pitch
755 * @return r_hip_pitch value
756 */
757float
758NaoJointStiffnessInterface::r_hip_pitch() const
759{
760 return data->r_hip_pitch;
761}
762
763/** Get maximum length of r_hip_pitch value.
764 * @return length of r_hip_pitch value, can be length of the array or number of
765 * maximum number of characters for a string
766 */
767size_t
768NaoJointStiffnessInterface::maxlenof_r_hip_pitch() const
769{
770 return 1;
771}
772
773/** Set r_hip_pitch value.
774 * Right hip pitch
775 * @param new_r_hip_pitch new r_hip_pitch value
776 */
777void
778NaoJointStiffnessInterface::set_r_hip_pitch(const float new_r_hip_pitch)
779{
780 set_field(data->r_hip_pitch, new_r_hip_pitch);
781}
782
783/** Get r_knee_pitch value.
784 * Right knee pitch
785 * @return r_knee_pitch value
786 */
787float
788NaoJointStiffnessInterface::r_knee_pitch() const
789{
790 return data->r_knee_pitch;
791}
792
793/** Get maximum length of r_knee_pitch value.
794 * @return length of r_knee_pitch value, can be length of the array or number of
795 * maximum number of characters for a string
796 */
797size_t
798NaoJointStiffnessInterface::maxlenof_r_knee_pitch() const
799{
800 return 1;
801}
802
803/** Set r_knee_pitch value.
804 * Right knee pitch
805 * @param new_r_knee_pitch new r_knee_pitch value
806 */
807void
808NaoJointStiffnessInterface::set_r_knee_pitch(const float new_r_knee_pitch)
809{
810 set_field(data->r_knee_pitch, new_r_knee_pitch);
811}
812
813/** Get r_ankle_pitch value.
814 * Right ankle pitch
815 * @return r_ankle_pitch value
816 */
817float
818NaoJointStiffnessInterface::r_ankle_pitch() const
819{
820 return data->r_ankle_pitch;
821}
822
823/** Get maximum length of r_ankle_pitch value.
824 * @return length of r_ankle_pitch value, can be length of the array or number of
825 * maximum number of characters for a string
826 */
827size_t
828NaoJointStiffnessInterface::maxlenof_r_ankle_pitch() const
829{
830 return 1;
831}
832
833/** Set r_ankle_pitch value.
834 * Right ankle pitch
835 * @param new_r_ankle_pitch new r_ankle_pitch value
836 */
837void
838NaoJointStiffnessInterface::set_r_ankle_pitch(const float new_r_ankle_pitch)
839{
840 set_field(data->r_ankle_pitch, new_r_ankle_pitch);
841}
842
843/** Get r_ankle_roll value.
844 * Right ankle roll
845 * @return r_ankle_roll value
846 */
847float
848NaoJointStiffnessInterface::r_ankle_roll() const
849{
850 return data->r_ankle_roll;
851}
852
853/** Get maximum length of r_ankle_roll value.
854 * @return length of r_ankle_roll value, can be length of the array or number of
855 * maximum number of characters for a string
856 */
857size_t
858NaoJointStiffnessInterface::maxlenof_r_ankle_roll() const
859{
860 return 1;
861}
862
863/** Set r_ankle_roll value.
864 * Right ankle roll
865 * @param new_r_ankle_roll new r_ankle_roll value
866 */
867void
868NaoJointStiffnessInterface::set_r_ankle_roll(const float new_r_ankle_roll)
869{
870 set_field(data->r_ankle_roll, new_r_ankle_roll);
871}
872
873/** Get minimum value.
874 *
875 Minimum stiffness of all joints. On the RoboCup version of the Nao this
876 ignores the hand and wrist values.
877
878 * @return minimum value
879 */
880float
881NaoJointStiffnessInterface::minimum() const
882{
883 return data->minimum;
884}
885
886/** Get maximum length of minimum value.
887 * @return length of minimum value, can be length of the array or number of
888 * maximum number of characters for a string
889 */
890size_t
891NaoJointStiffnessInterface::maxlenof_minimum() const
892{
893 return 1;
894}
895
896/** Set minimum value.
897 *
898 Minimum stiffness of all joints. On the RoboCup version of the Nao this
899 ignores the hand and wrist values.
900
901 * @param new_minimum new minimum value
902 */
903void
904NaoJointStiffnessInterface::set_minimum(const float new_minimum)
905{
906 set_field(data->minimum, new_minimum);
907}
908
909/* =========== message create =========== */
910Message *
911NaoJointStiffnessInterface::create_message(const char *type) const
912{
913 if ( strncmp("SetStiffnessMessage", type, INTERFACE_MESSAGE_TYPE_SIZE_ - 1) == 0 ) {
914 return new SetStiffnessMessage();
915 } else if ( strncmp("SetBodyStiffnessMessage", type, INTERFACE_MESSAGE_TYPE_SIZE_ - 1) == 0 ) {
916 return new SetBodyStiffnessMessage();
917 } else if ( strncmp("SetStiffnessesMessage", type, INTERFACE_MESSAGE_TYPE_SIZE_ - 1) == 0 ) {
918 return new SetStiffnessesMessage();
919 } else {
920 throw UnknownTypeException("The given type '%s' does not match any known "
921 "message type for this interface type.", type);
922 }
923}
924
925
926/** Copy values from other interface.
927 * @param other other interface to copy values from
928 */
929void
930NaoJointStiffnessInterface::copy_values(const Interface *other)
931{
932 const NaoJointStiffnessInterface *oi = dynamic_cast<const NaoJointStiffnessInterface *>(other);
933 if (oi == NULL) {
934 throw TypeMismatchException("Can only copy values from interface of same type (%s vs. %s)",
935 type(), other->type());
936 }
937 memcpy(data, oi->data, sizeof(NaoJointStiffnessInterface_data_t));
938}
939
940const char *
941NaoJointStiffnessInterface::enum_tostring(const char *enumtype, int val) const
942{
943 throw UnknownTypeException("Unknown enum type %s", enumtype);
944}
945
946/* =========== messages =========== */
947/** @class NaoJointStiffnessInterface::SetStiffnessMessage <interfaces/NaoJointStiffnessInterface.h>
948 * SetStiffnessMessage Fawkes BlackBoard Interface Message.
949 *
950
951 */
952
953
954/** Constructor with initial values.
955 * @param ini_servo initial value for servo
956 * @param ini_value initial value for value
957 * @param ini_time_sec initial value for time_sec
958 */
959NaoJointStiffnessInterface::SetStiffnessMessage::SetStiffnessMessage(const uint32_t ini_servo, const float ini_value, const float ini_time_sec) : Message("SetStiffnessMessage")
960{
961 data_size = sizeof(SetStiffnessMessage_data_t);
962 data_ptr = malloc(data_size);
963 memset(data_ptr, 0, data_size);
964 data = (SetStiffnessMessage_data_t *)data_ptr;
966 data->servo = ini_servo;
967 data->value = ini_value;
968 data->time_sec = ini_time_sec;
969 add_fieldinfo(IFT_UINT32, "servo", 1, &data->servo);
970 add_fieldinfo(IFT_FLOAT, "value", 1, &data->value);
971 add_fieldinfo(IFT_FLOAT, "time_sec", 1, &data->time_sec);
972}
973/** Constructor */
975{
976 data_size = sizeof(SetStiffnessMessage_data_t);
977 data_ptr = malloc(data_size);
978 memset(data_ptr, 0, data_size);
979 data = (SetStiffnessMessage_data_t *)data_ptr;
981 add_fieldinfo(IFT_UINT32, "servo", 1, &data->servo);
982 add_fieldinfo(IFT_FLOAT, "value", 1, &data->value);
983 add_fieldinfo(IFT_FLOAT, "time_sec", 1, &data->time_sec);
984}
985
986/** Destructor */
988{
989 free(data_ptr);
990}
991
992/** Copy constructor.
993 * @param m message to copy from
994 */
996{
997 data_size = m->data_size;
998 data_ptr = malloc(data_size);
999 memcpy(data_ptr, m->data_ptr, data_size);
1000 data = (SetStiffnessMessage_data_t *)data_ptr;
1002}
1003
1004/* Methods */
1005/** Get servo value.
1006 *
1007 A concatenated list of SERVO_* constants from the
1008 NaoJointPositionInterface to define the servos that should
1009 execute the movement. The list shall consist of binary or'ed
1010 SERVO_* constants.
1011
1012 * @return servo value
1013 */
1014uint32_t
1016{
1017 return data->servo;
1018}
1019
1020/** Get maximum length of servo value.
1021 * @return length of servo value, can be length of the array or number of
1022 * maximum number of characters for a string
1023 */
1024size_t
1026{
1027 return 1;
1028}
1029
1030/** Set servo value.
1031 *
1032 A concatenated list of SERVO_* constants from the
1033 NaoJointPositionInterface to define the servos that should
1034 execute the movement. The list shall consist of binary or'ed
1035 SERVO_* constants.
1036
1037 * @param new_servo new servo value
1038 */
1039void
1041{
1042 set_field(data->servo, new_servo);
1043}
1044
1045/** Get value value.
1046 * Servo value to set for servos.
1047 * @return value value
1048 */
1049float
1051{
1052 return data->value;
1053}
1054
1055/** Get maximum length of value value.
1056 * @return length of value value, can be length of the array or number of
1057 * maximum number of characters for a string
1058 */
1059size_t
1061{
1062 return 1;
1063}
1064
1065/** Set value value.
1066 * Servo value to set for servos.
1067 * @param new_value new value value
1068 */
1069void
1071{
1072 set_field(data->value, new_value);
1073}
1074
1075/** Get time_sec value.
1076 * Time when to reach the stiffness.
1077 * @return time_sec value
1078 */
1079float
1081{
1082 return data->time_sec;
1083}
1084
1085/** Get maximum length of time_sec value.
1086 * @return length of time_sec value, can be length of the array or number of
1087 * maximum number of characters for a string
1088 */
1089size_t
1091{
1092 return 1;
1093}
1094
1095/** Set time_sec value.
1096 * Time when to reach the stiffness.
1097 * @param new_time_sec new time_sec value
1098 */
1099void
1101{
1102 set_field(data->time_sec, new_time_sec);
1103}
1104
1105/** Clone this message.
1106 * Produces a message of the same type as this message and copies the
1107 * data to the new message.
1108 * @return clone of this message
1109 */
1110Message *
1112{
1114}
1115/** @class NaoJointStiffnessInterface::SetBodyStiffnessMessage <interfaces/NaoJointStiffnessInterface.h>
1116 * SetBodyStiffnessMessage Fawkes BlackBoard Interface Message.
1117 *
1118
1119 */
1120
1121
1122/** Constructor with initial values.
1123 * @param ini_value initial value for value
1124 * @param ini_time_sec initial value for time_sec
1125 */
1126NaoJointStiffnessInterface::SetBodyStiffnessMessage::SetBodyStiffnessMessage(const float ini_value, const float ini_time_sec) : Message("SetBodyStiffnessMessage")
1127{
1128 data_size = sizeof(SetBodyStiffnessMessage_data_t);
1129 data_ptr = malloc(data_size);
1130 memset(data_ptr, 0, data_size);
1131 data = (SetBodyStiffnessMessage_data_t *)data_ptr;
1133 data->value = ini_value;
1134 data->time_sec = ini_time_sec;
1135 add_fieldinfo(IFT_FLOAT, "value", 1, &data->value);
1136 add_fieldinfo(IFT_FLOAT, "time_sec", 1, &data->time_sec);
1137}
1138/** Constructor */
1140{
1141 data_size = sizeof(SetBodyStiffnessMessage_data_t);
1142 data_ptr = malloc(data_size);
1143 memset(data_ptr, 0, data_size);
1144 data = (SetBodyStiffnessMessage_data_t *)data_ptr;
1146 add_fieldinfo(IFT_FLOAT, "value", 1, &data->value);
1147 add_fieldinfo(IFT_FLOAT, "time_sec", 1, &data->time_sec);
1148}
1149
1150/** Destructor */
1152{
1153 free(data_ptr);
1154}
1155
1156/** Copy constructor.
1157 * @param m message to copy from
1158 */
1160{
1161 data_size = m->data_size;
1162 data_ptr = malloc(data_size);
1163 memcpy(data_ptr, m->data_ptr, data_size);
1164 data = (SetBodyStiffnessMessage_data_t *)data_ptr;
1166}
1167
1168/* Methods */
1169/** Get value value.
1170 * Servo value to set for servos.
1171 * @return value value
1172 */
1173float
1175{
1176 return data->value;
1177}
1178
1179/** Get maximum length of value value.
1180 * @return length of value value, can be length of the array or number of
1181 * maximum number of characters for a string
1182 */
1183size_t
1185{
1186 return 1;
1187}
1188
1189/** Set value value.
1190 * Servo value to set for servos.
1191 * @param new_value new value value
1192 */
1193void
1195{
1196 set_field(data->value, new_value);
1197}
1198
1199/** Get time_sec value.
1200 * Time when to reach the stiffness.
1201 * @return time_sec value
1202 */
1203float
1205{
1206 return data->time_sec;
1207}
1208
1209/** Get maximum length of time_sec value.
1210 * @return length of time_sec value, can be length of the array or number of
1211 * maximum number of characters for a string
1212 */
1213size_t
1215{
1216 return 1;
1217}
1218
1219/** Set time_sec value.
1220 * Time when to reach the stiffness.
1221 * @param new_time_sec new time_sec value
1222 */
1223void
1225{
1226 set_field(data->time_sec, new_time_sec);
1227}
1228
1229/** Clone this message.
1230 * Produces a message of the same type as this message and copies the
1231 * data to the new message.
1232 * @return clone of this message
1233 */
1234Message *
1236{
1238}
1239/** @class NaoJointStiffnessInterface::SetStiffnessesMessage <interfaces/NaoJointStiffnessInterface.h>
1240 * SetStiffnessesMessage Fawkes BlackBoard Interface Message.
1241 *
1242
1243 */
1244
1245
1246/** Constructor with initial values.
1247 * @param ini_time_sec initial value for time_sec
1248 * @param ini_head_yaw initial value for head_yaw
1249 * @param ini_head_pitch initial value for head_pitch
1250 * @param ini_l_shoulder_pitch initial value for l_shoulder_pitch
1251 * @param ini_l_shoulder_roll initial value for l_shoulder_roll
1252 * @param ini_l_elbow_yaw initial value for l_elbow_yaw
1253 * @param ini_l_elbow_roll initial value for l_elbow_roll
1254 * @param ini_l_wrist_yaw initial value for l_wrist_yaw
1255 * @param ini_l_hand initial value for l_hand
1256 * @param ini_l_hip_yaw_pitch initial value for l_hip_yaw_pitch
1257 * @param ini_l_hip_roll initial value for l_hip_roll
1258 * @param ini_l_hip_pitch initial value for l_hip_pitch
1259 * @param ini_l_knee_pitch initial value for l_knee_pitch
1260 * @param ini_l_ankle_pitch initial value for l_ankle_pitch
1261 * @param ini_l_ankle_roll initial value for l_ankle_roll
1262 * @param ini_r_shoulder_pitch initial value for r_shoulder_pitch
1263 * @param ini_r_shoulder_roll initial value for r_shoulder_roll
1264 * @param ini_r_elbow_yaw initial value for r_elbow_yaw
1265 * @param ini_r_wrist_yaw initial value for r_wrist_yaw
1266 * @param ini_r_hand initial value for r_hand
1267 * @param ini_r_hip_yaw_pitch initial value for r_hip_yaw_pitch
1268 * @param ini_r_hip_roll initial value for r_hip_roll
1269 * @param ini_r_hip_pitch initial value for r_hip_pitch
1270 * @param ini_r_knee_pitch initial value for r_knee_pitch
1271 * @param ini_r_ankle_pitch initial value for r_ankle_pitch
1272 * @param ini_r_ankle_roll initial value for r_ankle_roll
1273 * @param ini_r_elbow_roll initial value for r_elbow_roll
1274 */
1275NaoJointStiffnessInterface::SetStiffnessesMessage::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) : Message("SetStiffnessesMessage")
1276{
1277 data_size = sizeof(SetStiffnessesMessage_data_t);
1278 data_ptr = malloc(data_size);
1279 memset(data_ptr, 0, data_size);
1280 data = (SetStiffnessesMessage_data_t *)data_ptr;
1282 data->time_sec = ini_time_sec;
1283 data->head_yaw = ini_head_yaw;
1284 data->head_pitch = ini_head_pitch;
1285 data->l_shoulder_pitch = ini_l_shoulder_pitch;
1286 data->l_shoulder_roll = ini_l_shoulder_roll;
1287 data->l_elbow_yaw = ini_l_elbow_yaw;
1288 data->l_elbow_roll = ini_l_elbow_roll;
1289 data->l_wrist_yaw = ini_l_wrist_yaw;
1290 data->l_hand = ini_l_hand;
1291 data->l_hip_yaw_pitch = ini_l_hip_yaw_pitch;
1292 data->l_hip_roll = ini_l_hip_roll;
1293 data->l_hip_pitch = ini_l_hip_pitch;
1294 data->l_knee_pitch = ini_l_knee_pitch;
1295 data->l_ankle_pitch = ini_l_ankle_pitch;
1296 data->l_ankle_roll = ini_l_ankle_roll;
1297 data->r_shoulder_pitch = ini_r_shoulder_pitch;
1298 data->r_shoulder_roll = ini_r_shoulder_roll;
1299 data->r_elbow_yaw = ini_r_elbow_yaw;
1300 data->r_wrist_yaw = ini_r_wrist_yaw;
1301 data->r_hand = ini_r_hand;
1302 data->r_hip_yaw_pitch = ini_r_hip_yaw_pitch;
1303 data->r_hip_roll = ini_r_hip_roll;
1304 data->r_hip_pitch = ini_r_hip_pitch;
1305 data->r_knee_pitch = ini_r_knee_pitch;
1306 data->r_ankle_pitch = ini_r_ankle_pitch;
1307 data->r_ankle_roll = ini_r_ankle_roll;
1308 data->r_elbow_roll = ini_r_elbow_roll;
1309 add_fieldinfo(IFT_FLOAT, "time_sec", 1, &data->time_sec);
1310 add_fieldinfo(IFT_FLOAT, "head_yaw", 1, &data->head_yaw);
1311 add_fieldinfo(IFT_FLOAT, "head_pitch", 1, &data->head_pitch);
1312 add_fieldinfo(IFT_FLOAT, "l_shoulder_pitch", 1, &data->l_shoulder_pitch);
1313 add_fieldinfo(IFT_FLOAT, "l_shoulder_roll", 1, &data->l_shoulder_roll);
1314 add_fieldinfo(IFT_FLOAT, "l_elbow_yaw", 1, &data->l_elbow_yaw);
1315 add_fieldinfo(IFT_FLOAT, "l_elbow_roll", 1, &data->l_elbow_roll);
1316 add_fieldinfo(IFT_FLOAT, "l_wrist_yaw", 1, &data->l_wrist_yaw);
1317 add_fieldinfo(IFT_FLOAT, "l_hand", 1, &data->l_hand);
1318 add_fieldinfo(IFT_FLOAT, "l_hip_yaw_pitch", 1, &data->l_hip_yaw_pitch);
1319 add_fieldinfo(IFT_FLOAT, "l_hip_roll", 1, &data->l_hip_roll);
1320 add_fieldinfo(IFT_FLOAT, "l_hip_pitch", 1, &data->l_hip_pitch);
1321 add_fieldinfo(IFT_FLOAT, "l_knee_pitch", 1, &data->l_knee_pitch);
1322 add_fieldinfo(IFT_FLOAT, "l_ankle_pitch", 1, &data->l_ankle_pitch);
1323 add_fieldinfo(IFT_FLOAT, "l_ankle_roll", 1, &data->l_ankle_roll);
1324 add_fieldinfo(IFT_FLOAT, "r_shoulder_pitch", 1, &data->r_shoulder_pitch);
1325 add_fieldinfo(IFT_FLOAT, "r_shoulder_roll", 1, &data->r_shoulder_roll);
1326 add_fieldinfo(IFT_FLOAT, "r_elbow_yaw", 1, &data->r_elbow_yaw);
1327 add_fieldinfo(IFT_FLOAT, "r_wrist_yaw", 1, &data->r_wrist_yaw);
1328 add_fieldinfo(IFT_FLOAT, "r_hand", 1, &data->r_hand);
1329 add_fieldinfo(IFT_FLOAT, "r_hip_yaw_pitch", 1, &data->r_hip_yaw_pitch);
1330 add_fieldinfo(IFT_FLOAT, "r_hip_roll", 1, &data->r_hip_roll);
1331 add_fieldinfo(IFT_FLOAT, "r_hip_pitch", 1, &data->r_hip_pitch);
1332 add_fieldinfo(IFT_FLOAT, "r_knee_pitch", 1, &data->r_knee_pitch);
1333 add_fieldinfo(IFT_FLOAT, "r_ankle_pitch", 1, &data->r_ankle_pitch);
1334 add_fieldinfo(IFT_FLOAT, "r_ankle_roll", 1, &data->r_ankle_roll);
1335 add_fieldinfo(IFT_FLOAT, "r_elbow_roll", 1, &data->r_elbow_roll);
1336}
1337/** Constructor */
1339{
1340 data_size = sizeof(SetStiffnessesMessage_data_t);
1341 data_ptr = malloc(data_size);
1342 memset(data_ptr, 0, data_size);
1343 data = (SetStiffnessesMessage_data_t *)data_ptr;
1345 add_fieldinfo(IFT_FLOAT, "time_sec", 1, &data->time_sec);
1346 add_fieldinfo(IFT_FLOAT, "head_yaw", 1, &data->head_yaw);
1347 add_fieldinfo(IFT_FLOAT, "head_pitch", 1, &data->head_pitch);
1348 add_fieldinfo(IFT_FLOAT, "l_shoulder_pitch", 1, &data->l_shoulder_pitch);
1349 add_fieldinfo(IFT_FLOAT, "l_shoulder_roll", 1, &data->l_shoulder_roll);
1350 add_fieldinfo(IFT_FLOAT, "l_elbow_yaw", 1, &data->l_elbow_yaw);
1351 add_fieldinfo(IFT_FLOAT, "l_elbow_roll", 1, &data->l_elbow_roll);
1352 add_fieldinfo(IFT_FLOAT, "l_wrist_yaw", 1, &data->l_wrist_yaw);
1353 add_fieldinfo(IFT_FLOAT, "l_hand", 1, &data->l_hand);
1354 add_fieldinfo(IFT_FLOAT, "l_hip_yaw_pitch", 1, &data->l_hip_yaw_pitch);
1355 add_fieldinfo(IFT_FLOAT, "l_hip_roll", 1, &data->l_hip_roll);
1356 add_fieldinfo(IFT_FLOAT, "l_hip_pitch", 1, &data->l_hip_pitch);
1357 add_fieldinfo(IFT_FLOAT, "l_knee_pitch", 1, &data->l_knee_pitch);
1358 add_fieldinfo(IFT_FLOAT, "l_ankle_pitch", 1, &data->l_ankle_pitch);
1359 add_fieldinfo(IFT_FLOAT, "l_ankle_roll", 1, &data->l_ankle_roll);
1360 add_fieldinfo(IFT_FLOAT, "r_shoulder_pitch", 1, &data->r_shoulder_pitch);
1361 add_fieldinfo(IFT_FLOAT, "r_shoulder_roll", 1, &data->r_shoulder_roll);
1362 add_fieldinfo(IFT_FLOAT, "r_elbow_yaw", 1, &data->r_elbow_yaw);
1363 add_fieldinfo(IFT_FLOAT, "r_wrist_yaw", 1, &data->r_wrist_yaw);
1364 add_fieldinfo(IFT_FLOAT, "r_hand", 1, &data->r_hand);
1365 add_fieldinfo(IFT_FLOAT, "r_hip_yaw_pitch", 1, &data->r_hip_yaw_pitch);
1366 add_fieldinfo(IFT_FLOAT, "r_hip_roll", 1, &data->r_hip_roll);
1367 add_fieldinfo(IFT_FLOAT, "r_hip_pitch", 1, &data->r_hip_pitch);
1368 add_fieldinfo(IFT_FLOAT, "r_knee_pitch", 1, &data->r_knee_pitch);
1369 add_fieldinfo(IFT_FLOAT, "r_ankle_pitch", 1, &data->r_ankle_pitch);
1370 add_fieldinfo(IFT_FLOAT, "r_ankle_roll", 1, &data->r_ankle_roll);
1371 add_fieldinfo(IFT_FLOAT, "r_elbow_roll", 1, &data->r_elbow_roll);
1372}
1373
1374/** Destructor */
1376{
1377 free(data_ptr);
1378}
1379
1380/** Copy constructor.
1381 * @param m message to copy from
1382 */
1384{
1385 data_size = m->data_size;
1386 data_ptr = malloc(data_size);
1387 memcpy(data_ptr, m->data_ptr, data_size);
1388 data = (SetStiffnessesMessage_data_t *)data_ptr;
1390}
1391
1392/* Methods */
1393/** Get time_sec value.
1394 * Time when to reach the stiffness.
1395 * @return time_sec value
1396 */
1397float
1399{
1400 return data->time_sec;
1401}
1402
1403/** Get maximum length of time_sec value.
1404 * @return length of time_sec value, can be length of the array or number of
1405 * maximum number of characters for a string
1406 */
1407size_t
1409{
1410 return 1;
1411}
1412
1413/** Set time_sec value.
1414 * Time when to reach the stiffness.
1415 * @param new_time_sec new time_sec value
1416 */
1417void
1419{
1420 set_field(data->time_sec, new_time_sec);
1421}
1422
1423/** Get head_yaw value.
1424 * Head yaw
1425 * @return head_yaw value
1426 */
1427float
1429{
1430 return data->head_yaw;
1431}
1432
1433/** Get maximum length of head_yaw value.
1434 * @return length of head_yaw value, can be length of the array or number of
1435 * maximum number of characters for a string
1436 */
1437size_t
1439{
1440 return 1;
1441}
1442
1443/** Set head_yaw value.
1444 * Head yaw
1445 * @param new_head_yaw new head_yaw value
1446 */
1447void
1449{
1450 set_field(data->head_yaw, new_head_yaw);
1451}
1452
1453/** Get head_pitch value.
1454 * Head pitch
1455 * @return head_pitch value
1456 */
1457float
1459{
1460 return data->head_pitch;
1461}
1462
1463/** Get maximum length of head_pitch value.
1464 * @return length of head_pitch value, can be length of the array or number of
1465 * maximum number of characters for a string
1466 */
1467size_t
1469{
1470 return 1;
1471}
1472
1473/** Set head_pitch value.
1474 * Head pitch
1475 * @param new_head_pitch new head_pitch value
1476 */
1477void
1479{
1480 set_field(data->head_pitch, new_head_pitch);
1481}
1482
1483/** Get l_shoulder_pitch value.
1484 * Left shoulder pitch
1485 * @return l_shoulder_pitch value
1486 */
1487float
1489{
1490 return data->l_shoulder_pitch;
1491}
1492
1493/** Get maximum length of l_shoulder_pitch value.
1494 * @return length of l_shoulder_pitch value, can be length of the array or number of
1495 * maximum number of characters for a string
1496 */
1497size_t
1499{
1500 return 1;
1501}
1502
1503/** Set l_shoulder_pitch value.
1504 * Left shoulder pitch
1505 * @param new_l_shoulder_pitch new l_shoulder_pitch value
1506 */
1507void
1509{
1510 set_field(data->l_shoulder_pitch, new_l_shoulder_pitch);
1511}
1512
1513/** Get l_shoulder_roll value.
1514 * Left shoulder roll
1515 * @return l_shoulder_roll value
1516 */
1517float
1519{
1520 return data->l_shoulder_roll;
1521}
1522
1523/** Get maximum length of l_shoulder_roll value.
1524 * @return length of l_shoulder_roll value, can be length of the array or number of
1525 * maximum number of characters for a string
1526 */
1527size_t
1529{
1530 return 1;
1531}
1532
1533/** Set l_shoulder_roll value.
1534 * Left shoulder roll
1535 * @param new_l_shoulder_roll new l_shoulder_roll value
1536 */
1537void
1539{
1540 set_field(data->l_shoulder_roll, new_l_shoulder_roll);
1541}
1542
1543/** Get l_elbow_yaw value.
1544 * Left elbow yaw
1545 * @return l_elbow_yaw value
1546 */
1547float
1549{
1550 return data->l_elbow_yaw;
1551}
1552
1553/** Get maximum length of l_elbow_yaw value.
1554 * @return length of l_elbow_yaw value, can be length of the array or number of
1555 * maximum number of characters for a string
1556 */
1557size_t
1559{
1560 return 1;
1561}
1562
1563/** Set l_elbow_yaw value.
1564 * Left elbow yaw
1565 * @param new_l_elbow_yaw new l_elbow_yaw value
1566 */
1567void
1569{
1570 set_field(data->l_elbow_yaw, new_l_elbow_yaw);
1571}
1572
1573/** Get l_elbow_roll value.
1574 * Left elbow roll
1575 * @return l_elbow_roll value
1576 */
1577float
1579{
1580 return data->l_elbow_roll;
1581}
1582
1583/** Get maximum length of l_elbow_roll value.
1584 * @return length of l_elbow_roll value, can be length of the array or number of
1585 * maximum number of characters for a string
1586 */
1587size_t
1589{
1590 return 1;
1591}
1592
1593/** Set l_elbow_roll value.
1594 * Left elbow roll
1595 * @param new_l_elbow_roll new l_elbow_roll value
1596 */
1597void
1599{
1600 set_field(data->l_elbow_roll, new_l_elbow_roll);
1601}
1602
1603/** Get l_wrist_yaw value.
1604 * Left wrist yaw
1605 * @return l_wrist_yaw value
1606 */
1607float
1609{
1610 return data->l_wrist_yaw;
1611}
1612
1613/** Get maximum length of l_wrist_yaw value.
1614 * @return length of l_wrist_yaw value, can be length of the array or number of
1615 * maximum number of characters for a string
1616 */
1617size_t
1619{
1620 return 1;
1621}
1622
1623/** Set l_wrist_yaw value.
1624 * Left wrist yaw
1625 * @param new_l_wrist_yaw new l_wrist_yaw value
1626 */
1627void
1629{
1630 set_field(data->l_wrist_yaw, new_l_wrist_yaw);
1631}
1632
1633/** Get l_hand value.
1634 * Left hand
1635 * @return l_hand value
1636 */
1637float
1639{
1640 return data->l_hand;
1641}
1642
1643/** Get maximum length of l_hand value.
1644 * @return length of l_hand value, can be length of the array or number of
1645 * maximum number of characters for a string
1646 */
1647size_t
1649{
1650 return 1;
1651}
1652
1653/** Set l_hand value.
1654 * Left hand
1655 * @param new_l_hand new l_hand value
1656 */
1657void
1659{
1660 set_field(data->l_hand, new_l_hand);
1661}
1662
1663/** Get l_hip_yaw_pitch value.
1664 * Left hip yaw pitch
1665 * @return l_hip_yaw_pitch value
1666 */
1667float
1669{
1670 return data->l_hip_yaw_pitch;
1671}
1672
1673/** Get maximum length of l_hip_yaw_pitch value.
1674 * @return length of l_hip_yaw_pitch value, can be length of the array or number of
1675 * maximum number of characters for a string
1676 */
1677size_t
1679{
1680 return 1;
1681}
1682
1683/** Set l_hip_yaw_pitch value.
1684 * Left hip yaw pitch
1685 * @param new_l_hip_yaw_pitch new l_hip_yaw_pitch value
1686 */
1687void
1689{
1690 set_field(data->l_hip_yaw_pitch, new_l_hip_yaw_pitch);
1691}
1692
1693/** Get l_hip_roll value.
1694 * Left hip roll
1695 * @return l_hip_roll value
1696 */
1697float
1699{
1700 return data->l_hip_roll;
1701}
1702
1703/** Get maximum length of l_hip_roll value.
1704 * @return length of l_hip_roll value, can be length of the array or number of
1705 * maximum number of characters for a string
1706 */
1707size_t
1709{
1710 return 1;
1711}
1712
1713/** Set l_hip_roll value.
1714 * Left hip roll
1715 * @param new_l_hip_roll new l_hip_roll value
1716 */
1717void
1719{
1720 set_field(data->l_hip_roll, new_l_hip_roll);
1721}
1722
1723/** Get l_hip_pitch value.
1724 * Left hip pitch
1725 * @return l_hip_pitch value
1726 */
1727float
1729{
1730 return data->l_hip_pitch;
1731}
1732
1733/** Get maximum length of l_hip_pitch value.
1734 * @return length of l_hip_pitch value, can be length of the array or number of
1735 * maximum number of characters for a string
1736 */
1737size_t
1739{
1740 return 1;
1741}
1742
1743/** Set l_hip_pitch value.
1744 * Left hip pitch
1745 * @param new_l_hip_pitch new l_hip_pitch value
1746 */
1747void
1749{
1750 set_field(data->l_hip_pitch, new_l_hip_pitch);
1751}
1752
1753/** Get l_knee_pitch value.
1754 * Left knee pitch
1755 * @return l_knee_pitch value
1756 */
1757float
1759{
1760 return data->l_knee_pitch;
1761}
1762
1763/** Get maximum length of l_knee_pitch value.
1764 * @return length of l_knee_pitch value, can be length of the array or number of
1765 * maximum number of characters for a string
1766 */
1767size_t
1769{
1770 return 1;
1771}
1772
1773/** Set l_knee_pitch value.
1774 * Left knee pitch
1775 * @param new_l_knee_pitch new l_knee_pitch value
1776 */
1777void
1779{
1780 set_field(data->l_knee_pitch, new_l_knee_pitch);
1781}
1782
1783/** Get l_ankle_pitch value.
1784 * Left ankle pitch
1785 * @return l_ankle_pitch value
1786 */
1787float
1789{
1790 return data->l_ankle_pitch;
1791}
1792
1793/** Get maximum length of l_ankle_pitch value.
1794 * @return length of l_ankle_pitch value, can be length of the array or number of
1795 * maximum number of characters for a string
1796 */
1797size_t
1799{
1800 return 1;
1801}
1802
1803/** Set l_ankle_pitch value.
1804 * Left ankle pitch
1805 * @param new_l_ankle_pitch new l_ankle_pitch value
1806 */
1807void
1809{
1810 set_field(data->l_ankle_pitch, new_l_ankle_pitch);
1811}
1812
1813/** Get l_ankle_roll value.
1814 * Left ankle roll
1815 * @return l_ankle_roll value
1816 */
1817float
1819{
1820 return data->l_ankle_roll;
1821}
1822
1823/** Get maximum length of l_ankle_roll value.
1824 * @return length of l_ankle_roll value, can be length of the array or number of
1825 * maximum number of characters for a string
1826 */
1827size_t
1829{
1830 return 1;
1831}
1832
1833/** Set l_ankle_roll value.
1834 * Left ankle roll
1835 * @param new_l_ankle_roll new l_ankle_roll value
1836 */
1837void
1839{
1840 set_field(data->l_ankle_roll, new_l_ankle_roll);
1841}
1842
1843/** Get r_shoulder_pitch value.
1844 * Right shoulder pitch
1845 * @return r_shoulder_pitch value
1846 */
1847float
1849{
1850 return data->r_shoulder_pitch;
1851}
1852
1853/** Get maximum length of r_shoulder_pitch value.
1854 * @return length of r_shoulder_pitch value, can be length of the array or number of
1855 * maximum number of characters for a string
1856 */
1857size_t
1859{
1860 return 1;
1861}
1862
1863/** Set r_shoulder_pitch value.
1864 * Right shoulder pitch
1865 * @param new_r_shoulder_pitch new r_shoulder_pitch value
1866 */
1867void
1869{
1870 set_field(data->r_shoulder_pitch, new_r_shoulder_pitch);
1871}
1872
1873/** Get r_shoulder_roll value.
1874 * Right shoulder roll
1875 * @return r_shoulder_roll value
1876 */
1877float
1879{
1880 return data->r_shoulder_roll;
1881}
1882
1883/** Get maximum length of r_shoulder_roll value.
1884 * @return length of r_shoulder_roll value, can be length of the array or number of
1885 * maximum number of characters for a string
1886 */
1887size_t
1889{
1890 return 1;
1891}
1892
1893/** Set r_shoulder_roll value.
1894 * Right shoulder roll
1895 * @param new_r_shoulder_roll new r_shoulder_roll value
1896 */
1897void
1899{
1900 set_field(data->r_shoulder_roll, new_r_shoulder_roll);
1901}
1902
1903/** Get r_elbow_yaw value.
1904 * Right elbow yaw
1905 * @return r_elbow_yaw value
1906 */
1907float
1909{
1910 return data->r_elbow_yaw;
1911}
1912
1913/** Get maximum length of r_elbow_yaw value.
1914 * @return length of r_elbow_yaw value, can be length of the array or number of
1915 * maximum number of characters for a string
1916 */
1917size_t
1919{
1920 return 1;
1921}
1922
1923/** Set r_elbow_yaw value.
1924 * Right elbow yaw
1925 * @param new_r_elbow_yaw new r_elbow_yaw value
1926 */
1927void
1929{
1930 set_field(data->r_elbow_yaw, new_r_elbow_yaw);
1931}
1932
1933/** Get r_wrist_yaw value.
1934 * Right wrist yaw
1935 * @return r_wrist_yaw value
1936 */
1937float
1939{
1940 return data->r_wrist_yaw;
1941}
1942
1943/** Get maximum length of r_wrist_yaw value.
1944 * @return length of r_wrist_yaw value, can be length of the array or number of
1945 * maximum number of characters for a string
1946 */
1947size_t
1949{
1950 return 1;
1951}
1952
1953/** Set r_wrist_yaw value.
1954 * Right wrist yaw
1955 * @param new_r_wrist_yaw new r_wrist_yaw value
1956 */
1957void
1959{
1960 set_field(data->r_wrist_yaw, new_r_wrist_yaw);
1961}
1962
1963/** Get r_hand value.
1964 * Right hand
1965 * @return r_hand value
1966 */
1967float
1969{
1970 return data->r_hand;
1971}
1972
1973/** Get maximum length of r_hand value.
1974 * @return length of r_hand value, can be length of the array or number of
1975 * maximum number of characters for a string
1976 */
1977size_t
1979{
1980 return 1;
1981}
1982
1983/** Set r_hand value.
1984 * Right hand
1985 * @param new_r_hand new r_hand value
1986 */
1987void
1989{
1990 set_field(data->r_hand, new_r_hand);
1991}
1992
1993/** Get r_hip_yaw_pitch value.
1994 * Right hip yaw pitch
1995 * @return r_hip_yaw_pitch value
1996 */
1997float
1999{
2000 return data->r_hip_yaw_pitch;
2001}
2002
2003/** Get maximum length of r_hip_yaw_pitch value.
2004 * @return length of r_hip_yaw_pitch value, can be length of the array or number of
2005 * maximum number of characters for a string
2006 */
2007size_t
2009{
2010 return 1;
2011}
2012
2013/** Set r_hip_yaw_pitch value.
2014 * Right hip yaw pitch
2015 * @param new_r_hip_yaw_pitch new r_hip_yaw_pitch value
2016 */
2017void
2019{
2020 set_field(data->r_hip_yaw_pitch, new_r_hip_yaw_pitch);
2021}
2022
2023/** Get r_hip_roll value.
2024 * Right hip roll
2025 * @return r_hip_roll value
2026 */
2027float
2029{
2030 return data->r_hip_roll;
2031}
2032
2033/** Get maximum length of r_hip_roll value.
2034 * @return length of r_hip_roll value, can be length of the array or number of
2035 * maximum number of characters for a string
2036 */
2037size_t
2039{
2040 return 1;
2041}
2042
2043/** Set r_hip_roll value.
2044 * Right hip roll
2045 * @param new_r_hip_roll new r_hip_roll value
2046 */
2047void
2049{
2050 set_field(data->r_hip_roll, new_r_hip_roll);
2051}
2052
2053/** Get r_hip_pitch value.
2054 * Right hip pitch
2055 * @return r_hip_pitch value
2056 */
2057float
2059{
2060 return data->r_hip_pitch;
2061}
2062
2063/** Get maximum length of r_hip_pitch value.
2064 * @return length of r_hip_pitch value, can be length of the array or number of
2065 * maximum number of characters for a string
2066 */
2067size_t
2069{
2070 return 1;
2071}
2072
2073/** Set r_hip_pitch value.
2074 * Right hip pitch
2075 * @param new_r_hip_pitch new r_hip_pitch value
2076 */
2077void
2079{
2080 set_field(data->r_hip_pitch, new_r_hip_pitch);
2081}
2082
2083/** Get r_knee_pitch value.
2084 * Right knee pitch
2085 * @return r_knee_pitch value
2086 */
2087float
2089{
2090 return data->r_knee_pitch;
2091}
2092
2093/** Get maximum length of r_knee_pitch value.
2094 * @return length of r_knee_pitch value, can be length of the array or number of
2095 * maximum number of characters for a string
2096 */
2097size_t
2099{
2100 return 1;
2101}
2102
2103/** Set r_knee_pitch value.
2104 * Right knee pitch
2105 * @param new_r_knee_pitch new r_knee_pitch value
2106 */
2107void
2109{
2110 set_field(data->r_knee_pitch, new_r_knee_pitch);
2111}
2112
2113/** Get r_ankle_pitch value.
2114 * Right ankle pitch
2115 * @return r_ankle_pitch value
2116 */
2117float
2119{
2120 return data->r_ankle_pitch;
2121}
2122
2123/** Get maximum length of r_ankle_pitch value.
2124 * @return length of r_ankle_pitch value, can be length of the array or number of
2125 * maximum number of characters for a string
2126 */
2127size_t
2129{
2130 return 1;
2131}
2132
2133/** Set r_ankle_pitch value.
2134 * Right ankle pitch
2135 * @param new_r_ankle_pitch new r_ankle_pitch value
2136 */
2137void
2139{
2140 set_field(data->r_ankle_pitch, new_r_ankle_pitch);
2141}
2142
2143/** Get r_ankle_roll value.
2144 * Right ankle roll
2145 * @return r_ankle_roll value
2146 */
2147float
2149{
2150 return data->r_ankle_roll;
2151}
2152
2153/** Get maximum length of r_ankle_roll value.
2154 * @return length of r_ankle_roll value, can be length of the array or number of
2155 * maximum number of characters for a string
2156 */
2157size_t
2159{
2160 return 1;
2161}
2162
2163/** Set r_ankle_roll value.
2164 * Right ankle roll
2165 * @param new_r_ankle_roll new r_ankle_roll value
2166 */
2167void
2169{
2170 set_field(data->r_ankle_roll, new_r_ankle_roll);
2171}
2172
2173/** Get r_elbow_roll value.
2174 * Right elbow roll
2175 * @return r_elbow_roll value
2176 */
2177float
2179{
2180 return data->r_elbow_roll;
2181}
2182
2183/** Get maximum length of r_elbow_roll value.
2184 * @return length of r_elbow_roll value, can be length of the array or number of
2185 * maximum number of characters for a string
2186 */
2187size_t
2189{
2190 return 1;
2191}
2192
2193/** Set r_elbow_roll value.
2194 * Right elbow roll
2195 * @param new_r_elbow_roll new r_elbow_roll value
2196 */
2197void
2199{
2200 set_field(data->r_elbow_roll, new_r_elbow_roll);
2201}
2202
2203/** Clone this message.
2204 * Produces a message of the same type as this message and copies the
2205 * data to the new message.
2206 * @return clone of this message
2207 */
2208Message *
2210{
2212}
2213/** Check if message is valid and can be enqueued.
2214 * @param message Message to check
2215 * @return true if the message is valid, false otherwise.
2216 */
2217bool
2219{
2220 const SetStiffnessMessage *m0 = dynamic_cast<const SetStiffnessMessage *>(message);
2221 if ( m0 != NULL ) {
2222 return true;
2223 }
2224 const SetBodyStiffnessMessage *m1 = dynamic_cast<const SetBodyStiffnessMessage *>(message);
2225 if ( m1 != NULL ) {
2226 return true;
2227 }
2228 const SetStiffnessesMessage *m2 = dynamic_cast<const SetStiffnessesMessage *>(message);
2229 if ( m2 != NULL ) {
2230 return true;
2231 }
2232 return false;
2233}
2234
2235/// @cond INTERNALS
2236EXPORT_INTERFACE(NaoJointStiffnessInterface)
2237/// @endcond
2238
2239
2240} // end namespace fawkes
Base class for all Fawkes BlackBoard interfaces.
Definition: interface.h:80
const char * type() const
Get type of interface.
Definition: interface.cpp:652
void * data_ptr
Pointer to local memory storage.
Definition: interface.h:244
void set_field(FieldT &field, DataT &data)
Set a field, set data_changed to true and update data_changed accordingly.
Definition: interface.h:304
Base class for all messages passed through interfaces in Fawkes BlackBoard.
Definition: message.h:44
void add_fieldinfo(interface_fieldtype_t type, const char *name, size_t length, void *value, const char *enumtype=0, const interface_enum_map_t *enum_map=0)
Add an entry to the info list.
Definition: message.cpp:435
void * data_ptr
Pointer to memory that contains local data.
Definition: message.h:146
message_data_ts_t * data_ts
data timestamp aliasing pointer
Definition: message.h:156
unsigned int data_size
Size of memory needed to hold all data.
Definition: message.h:147
SetBodyStiffnessMessage Fawkes BlackBoard Interface Message.
size_t maxlenof_time_sec() const
Get maximum length of time_sec value.
size_t maxlenof_value() const
Get maximum length of value value.
void set_time_sec(const float new_time_sec)
Set time_sec value.
SetStiffnessMessage Fawkes BlackBoard Interface Message.
size_t maxlenof_value() const
Get maximum length of value value.
void set_time_sec(const float new_time_sec)
Set time_sec value.
size_t maxlenof_time_sec() const
Get maximum length of time_sec value.
void set_servo(const uint32_t new_servo)
Set servo value.
size_t maxlenof_servo() const
Get maximum length of servo value.
SetStiffnessesMessage Fawkes BlackBoard Interface Message.
void set_head_yaw(const float new_head_yaw)
Set head_yaw value.
size_t maxlenof_l_ankle_pitch() const
Get maximum length of l_ankle_pitch value.
size_t maxlenof_l_hip_pitch() const
Get maximum length of l_hip_pitch value.
void set_r_shoulder_roll(const float new_r_shoulder_roll)
Set r_shoulder_roll value.
void set_r_elbow_roll(const float new_r_elbow_roll)
Set r_elbow_roll value.
void set_l_elbow_yaw(const float new_l_elbow_yaw)
Set l_elbow_yaw value.
size_t maxlenof_time_sec() const
Get maximum length of time_sec value.
size_t maxlenof_l_wrist_yaw() const
Get maximum length of l_wrist_yaw value.
size_t maxlenof_head_yaw() const
Get maximum length of head_yaw value.
size_t maxlenof_l_hip_roll() const
Get maximum length of l_hip_roll value.
size_t maxlenof_r_hip_roll() const
Get maximum length of r_hip_roll value.
size_t maxlenof_l_elbow_roll() const
Get maximum length of l_elbow_roll value.
void set_l_shoulder_pitch(const float new_l_shoulder_pitch)
Set l_shoulder_pitch value.
size_t maxlenof_l_hip_yaw_pitch() const
Get maximum length of l_hip_yaw_pitch value.
size_t maxlenof_r_hand() const
Get maximum length of r_hand value.
void set_r_elbow_yaw(const float new_r_elbow_yaw)
Set r_elbow_yaw value.
size_t maxlenof_r_elbow_roll() const
Get maximum length of r_elbow_roll value.
void set_r_hip_yaw_pitch(const float new_r_hip_yaw_pitch)
Set r_hip_yaw_pitch value.
size_t maxlenof_l_ankle_roll() const
Get maximum length of l_ankle_roll value.
size_t maxlenof_r_wrist_yaw() const
Get maximum length of r_wrist_yaw value.
void set_l_hip_yaw_pitch(const float new_l_hip_yaw_pitch)
Set l_hip_yaw_pitch value.
void set_l_hip_roll(const float new_l_hip_roll)
Set l_hip_roll value.
size_t maxlenof_l_shoulder_roll() const
Get maximum length of l_shoulder_roll value.
size_t maxlenof_r_shoulder_pitch() const
Get maximum length of r_shoulder_pitch value.
size_t maxlenof_r_ankle_roll() const
Get maximum length of r_ankle_roll value.
size_t maxlenof_l_knee_pitch() const
Get maximum length of l_knee_pitch value.
size_t maxlenof_r_ankle_pitch() const
Get maximum length of r_ankle_pitch value.
void set_r_wrist_yaw(const float new_r_wrist_yaw)
Set r_wrist_yaw value.
void set_r_knee_pitch(const float new_r_knee_pitch)
Set r_knee_pitch value.
void set_r_shoulder_pitch(const float new_r_shoulder_pitch)
Set r_shoulder_pitch value.
void set_head_pitch(const float new_head_pitch)
Set head_pitch value.
size_t maxlenof_l_shoulder_pitch() const
Get maximum length of l_shoulder_pitch value.
size_t maxlenof_l_elbow_yaw() const
Get maximum length of l_elbow_yaw value.
void set_r_hip_pitch(const float new_r_hip_pitch)
Set r_hip_pitch value.
size_t maxlenof_head_pitch() const
Get maximum length of head_pitch value.
size_t maxlenof_r_shoulder_roll() const
Get maximum length of r_shoulder_roll value.
void set_l_wrist_yaw(const float new_l_wrist_yaw)
Set l_wrist_yaw value.
size_t maxlenof_r_hip_pitch() const
Get maximum length of r_hip_pitch value.
void set_time_sec(const float new_time_sec)
Set time_sec value.
size_t maxlenof_l_hand() const
Get maximum length of l_hand value.
void set_l_hip_pitch(const float new_l_hip_pitch)
Set l_hip_pitch value.
void set_l_knee_pitch(const float new_l_knee_pitch)
Set l_knee_pitch value.
size_t maxlenof_r_hip_yaw_pitch() const
Get maximum length of r_hip_yaw_pitch value.
void set_l_shoulder_roll(const float new_l_shoulder_roll)
Set l_shoulder_roll value.
size_t maxlenof_r_elbow_yaw() const
Get maximum length of r_elbow_yaw value.
void set_l_ankle_pitch(const float new_l_ankle_pitch)
Set l_ankle_pitch value.
void set_l_elbow_roll(const float new_l_elbow_roll)
Set l_elbow_roll value.
void set_l_ankle_roll(const float new_l_ankle_roll)
Set l_ankle_roll value.
size_t maxlenof_r_knee_pitch() const
Get maximum length of r_knee_pitch value.
void set_r_ankle_roll(const float new_r_ankle_roll)
Set r_ankle_roll value.
void set_r_hip_roll(const float new_r_hip_roll)
Set r_hip_roll value.
void set_r_ankle_pitch(const float new_r_ankle_pitch)
Set r_ankle_pitch value.
NaoJointStiffnessInterface Fawkes BlackBoard Interface.
virtual bool message_valid(const Message *message) const
Check if message is valid and can be enqueued.
Fawkes library namespace.
@ IFT_UINT32
32 bit unsigned integer field
Definition: types.h:43
@ IFT_FLOAT
float field
Definition: types.h:46
Timestamp data, must be present and first entries for each interface data structs!...
Definition: message.h:152