Fawkes API Fawkes Development Version
NaoJointPositionInterface.h
1
2/***************************************************************************
3 * NaoJointPositionInterface.h - Fawkes BlackBoard Interface - NaoJointPositionInterface
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#ifndef _INTERFACES_NAOJOINTPOSITIONINTERFACE_H_
25#define _INTERFACES_NAOJOINTPOSITIONINTERFACE_H_
26
27#include <interface/interface.h>
28#include <interface/message.h>
29#include <interface/field_iterator.h>
30
31namespace fawkes {
32
34{
35 /// @cond INTERNALS
36 INTERFACE_MGMT_FRIENDS(NaoJointPositionInterface)
37 /// @endcond
38 public:
39 /* constants */
40 static const uint32_t SERVO_head_yaw;
41 static const uint32_t SERVO_head_pitch;
42 static const uint32_t SERVO_l_shoulder_pitch;
43 static const uint32_t SERVO_l_shoulder_roll;
44 static const uint32_t SERVO_l_elbow_yaw;
45 static const uint32_t SERVO_l_elbow_roll;
46 static const uint32_t SERVO_l_wrist_yaw;
47 static const uint32_t SERVO_l_hand;
48 static const uint32_t SERVO_l_hip_yaw_pitch;
49 static const uint32_t SERVO_l_hip_roll;
50 static const uint32_t SERVO_l_hip_pitch;
51 static const uint32_t SERVO_l_knee_pitch;
52 static const uint32_t SERVO_l_ankle_pitch;
53 static const uint32_t SERVO_l_ankle_roll;
54 static const uint32_t SERVO_r_shoulder_pitch;
55 static const uint32_t SERVO_r_shoulder_roll;
56 static const uint32_t SERVO_r_elbow_yaw;
57 static const uint32_t SERVO_r_elbow_roll;
58 static const uint32_t SERVO_r_wrist_yaw;
59 static const uint32_t SERVO_r_hand;
60 static const uint32_t SERVO_r_hip_yaw_pitch;
61 static const uint32_t SERVO_r_hip_roll;
62 static const uint32_t SERVO_r_hip_pitch;
63 static const uint32_t SERVO_r_knee_pitch;
64 static const uint32_t SERVO_r_ankle_pitch;
65 static const uint32_t SERVO_r_ankle_roll;
66 static const uint32_t SERVO_min;
67 static const uint32_t SERVO_max;
68
69 /**
70 Enumeration describing the actual version of the robot that's being
71 used.
72 */
73 typedef enum {
75 Academic version with 25 DoF and touch sensors.
76 */,
78 RoboCup version with 21 DoF.
79 */
81 const char * tostring_RobotType(RobotType value) const;
82
83 private:
84 /** Internal data storage, do NOT modify! */
85 typedef struct {
86 int64_t timestamp_sec; /**< Interface Unix timestamp, seconds */
87 int64_t timestamp_usec; /**< Interface Unix timestamp, micro-seconds */
88 int32_t robot_type; /**< Robot type. */
89 uint8_t robot_version[4]; /**<
90 Robot version. Fields are in ascending array index major, minor, micro and
91 patch level. Currently only the first two are used by Aldebaran, but due to
92 struct alignment we add two extra bytes.
93 */
94 float head_yaw; /**< Head yaw */
95 float head_pitch; /**< Head pitch */
96 float l_shoulder_pitch; /**< Left shoulder pitch */
97 float l_shoulder_roll; /**< Left shoulder roll */
98 float l_elbow_yaw; /**< Left elbow yaw */
99 float l_elbow_roll; /**< Left elbow roll */
100 float l_wrist_yaw; /**< Left wrist yaw */
101 float l_hand; /**< Left hand */
102 float l_hip_yaw_pitch; /**< Left hip yaw pitch */
103 float l_hip_roll; /**< Left hip roll */
104 float l_hip_pitch; /**< Left hip pitch */
105 float l_knee_pitch; /**< Left knee pitch */
106 float l_ankle_pitch; /**< Left ankle pitch */
107 float l_ankle_roll; /**< Left ankle roll */
108 float r_shoulder_pitch; /**< Right shoulder pitch */
109 float r_shoulder_roll; /**< Right shoulder roll */
110 float r_elbow_yaw; /**< Right elbow yaw */
111 float r_elbow_roll; /**< Right elbow roll */
112 float r_wrist_yaw; /**< Right wrist yaw */
113 float r_hand; /**< Right hand */
114 float r_hip_yaw_pitch; /**< Right hip yaw pitch */
115 float r_hip_roll; /**< Right hip roll */
116 float r_hip_pitch; /**< Right hip pitch */
117 float r_knee_pitch; /**< Right knee pitch */
118 float r_ankle_pitch; /**< Right ankle pitch */
119 float r_ankle_roll; /**< Right ankle roll */
120 int32_t time; /**<
121 Current reference time in ms. For real hardware this is the DCM time.
122 Times in messages are always offsets to the current time and the current
123 time is added before executing the command.
124 */
125 } NaoJointPositionInterface_data_t;
126
127 NaoJointPositionInterface_data_t *data;
128
129 interface_enum_map_t enum_map_RobotType;
130 public:
131 /* messages */
133 {
134 private:
135 /** Internal data storage, do NOT modify! */
136 typedef struct {
137 int64_t timestamp_sec; /**< Interface Unix timestamp, seconds */
138 int64_t timestamp_usec; /**< Interface Unix timestamp, micro-seconds */
139 uint32_t servo; /**< A concatenated list of SERVO_* constants to
140 define the servos that should execute the movement. The list shall consist of
141 binary or'ed SERVO_* constants. */
142 float value; /**< Servo value to set for servos. */
143 int32_t time; /**<
144 Current reference time in ms. For real hardware this is the DCM time.
145 Times in messages are always offsets to the current time and the current
146 time is added before executing the command.
147 */
148 } SetServoMessage_data_t;
149
150 SetServoMessage_data_t *data;
151
152 interface_enum_map_t enum_map_RobotType;
153 public:
154 SetServoMessage(const uint32_t ini_servo, const float ini_value, const int32_t ini_time);
157
158 explicit SetServoMessage(const SetServoMessage *m);
159 /* Methods */
160 uint32_t servo() const;
161 void set_servo(const uint32_t new_servo);
162 size_t maxlenof_servo() const;
163 float value() const;
164 void set_value(const float new_value);
165 size_t maxlenof_value() const;
166 int32_t time() const;
167 void set_time(const int32_t new_time);
168 size_t maxlenof_time() const;
169 virtual Message * clone() const;
170 };
171
173 {
174 private:
175 /** Internal data storage, do NOT modify! */
176 typedef struct {
177 int64_t timestamp_sec; /**< Interface Unix timestamp, seconds */
178 int64_t timestamp_usec; /**< Interface Unix timestamp, micro-seconds */
179 float head_yaw; /**< Head yaw */
180 float head_pitch; /**< Head pitch */
181 float l_shoulder_pitch; /**< Left shoulder pitch */
182 float l_shoulder_roll; /**< Left shoulder roll */
183 float l_elbow_yaw; /**< Left elbow yaw */
184 float l_elbow_roll; /**< Left elbow roll */
185 float l_hip_yaw_pitch; /**< Left hip yaw pitch */
186 float l_hip_roll; /**< Left hip roll */
187 float l_hip_pitch; /**< Left hip pitch */
188 float l_knee_pitch; /**< Left knee pitch */
189 float l_ankle_pitch; /**< Left ankle pitch */
190 float l_ankle_roll; /**< Left ankle roll */
191 float l_wrist_yaw; /**< Left wrist yaw */
192 float l_hand; /**< Left hand */
193 float r_shoulder_pitch; /**< Right shoulder pitch */
194 float r_shoulder_roll; /**< Right shoulder roll */
195 float r_elbow_yaw; /**< Right elbow yaw */
196 float r_elbow_roll; /**< Right elbow roll */
197 float r_wrist_yaw; /**< Right wrist yaw */
198 float r_hand; /**< Right hand */
199 float r_hip_yaw_pitch; /**< Right hip yaw pitch */
200 float r_hip_roll; /**< Right hip roll */
201 float r_hip_pitch; /**< Right hip pitch */
202 float r_knee_pitch; /**< Right knee pitch */
203 float r_ankle_pitch; /**< Right ankle pitch */
204 float r_ankle_roll; /**< Right ankle roll */
205 int32_t time; /**<
206 Current reference time in ms. For real hardware this is the DCM time.
207 Times in messages are always offsets to the current time and the current
208 time is added before executing the command.
209 */
210 } SetServosMessage_data_t;
211
212 SetServosMessage_data_t *data;
213
214 interface_enum_map_t enum_map_RobotType;
215 public:
216 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);
219
220 explicit SetServosMessage(const SetServosMessage *m);
221 /* Methods */
222 float head_yaw() const;
223 void set_head_yaw(const float new_head_yaw);
224 size_t maxlenof_head_yaw() const;
225 float head_pitch() const;
226 void set_head_pitch(const float new_head_pitch);
227 size_t maxlenof_head_pitch() const;
228 float l_shoulder_pitch() const;
229 void set_l_shoulder_pitch(const float new_l_shoulder_pitch);
230 size_t maxlenof_l_shoulder_pitch() const;
231 float l_shoulder_roll() const;
232 void set_l_shoulder_roll(const float new_l_shoulder_roll);
233 size_t maxlenof_l_shoulder_roll() const;
234 float l_elbow_yaw() const;
235 void set_l_elbow_yaw(const float new_l_elbow_yaw);
236 size_t maxlenof_l_elbow_yaw() const;
237 float l_elbow_roll() const;
238 void set_l_elbow_roll(const float new_l_elbow_roll);
239 size_t maxlenof_l_elbow_roll() const;
240 float l_hip_yaw_pitch() const;
241 void set_l_hip_yaw_pitch(const float new_l_hip_yaw_pitch);
242 size_t maxlenof_l_hip_yaw_pitch() const;
243 float l_hip_roll() const;
244 void set_l_hip_roll(const float new_l_hip_roll);
245 size_t maxlenof_l_hip_roll() const;
246 float l_hip_pitch() const;
247 void set_l_hip_pitch(const float new_l_hip_pitch);
248 size_t maxlenof_l_hip_pitch() const;
249 float l_knee_pitch() const;
250 void set_l_knee_pitch(const float new_l_knee_pitch);
251 size_t maxlenof_l_knee_pitch() const;
252 float l_ankle_pitch() const;
253 void set_l_ankle_pitch(const float new_l_ankle_pitch);
254 size_t maxlenof_l_ankle_pitch() const;
255 float l_ankle_roll() const;
256 void set_l_ankle_roll(const float new_l_ankle_roll);
257 size_t maxlenof_l_ankle_roll() const;
258 float l_wrist_yaw() const;
259 void set_l_wrist_yaw(const float new_l_wrist_yaw);
260 size_t maxlenof_l_wrist_yaw() const;
261 float l_hand() const;
262 void set_l_hand(const float new_l_hand);
263 size_t maxlenof_l_hand() const;
264 float r_shoulder_pitch() const;
265 void set_r_shoulder_pitch(const float new_r_shoulder_pitch);
266 size_t maxlenof_r_shoulder_pitch() const;
267 float r_shoulder_roll() const;
268 void set_r_shoulder_roll(const float new_r_shoulder_roll);
269 size_t maxlenof_r_shoulder_roll() const;
270 float r_elbow_yaw() const;
271 void set_r_elbow_yaw(const float new_r_elbow_yaw);
272 size_t maxlenof_r_elbow_yaw() const;
273 float r_elbow_roll() const;
274 void set_r_elbow_roll(const float new_r_elbow_roll);
275 size_t maxlenof_r_elbow_roll() const;
276 float r_wrist_yaw() const;
277 void set_r_wrist_yaw(const float new_r_wrist_yaw);
278 size_t maxlenof_r_wrist_yaw() const;
279 float r_hand() const;
280 void set_r_hand(const float new_r_hand);
281 size_t maxlenof_r_hand() const;
282 float r_hip_yaw_pitch() const;
283 void set_r_hip_yaw_pitch(const float new_r_hip_yaw_pitch);
284 size_t maxlenof_r_hip_yaw_pitch() const;
285 float r_hip_roll() const;
286 void set_r_hip_roll(const float new_r_hip_roll);
287 size_t maxlenof_r_hip_roll() const;
288 float r_hip_pitch() const;
289 void set_r_hip_pitch(const float new_r_hip_pitch);
290 size_t maxlenof_r_hip_pitch() const;
291 float r_knee_pitch() const;
292 void set_r_knee_pitch(const float new_r_knee_pitch);
293 size_t maxlenof_r_knee_pitch() const;
294 float r_ankle_pitch() const;
295 void set_r_ankle_pitch(const float new_r_ankle_pitch);
296 size_t maxlenof_r_ankle_pitch() const;
297 float r_ankle_roll() const;
298 void set_r_ankle_roll(const float new_r_ankle_roll);
299 size_t maxlenof_r_ankle_roll() const;
300 int32_t time() const;
301 void set_time(const int32_t new_time);
302 size_t maxlenof_time() const;
303 virtual Message * clone() const;
304 };
305
307 {
308 private:
309 /** Internal data storage, do NOT modify! */
310 typedef struct {
311 int64_t timestamp_sec; /**< Interface Unix timestamp, seconds */
312 int64_t timestamp_usec; /**< Interface Unix timestamp, micro-seconds */
313 uint32_t servo; /**<
314 A concatenated list of SERVO_* constants to define the servos
315 that should execute the movement. The list shall consist of
316 binary or'ed SERVO_* constants.
317 */
318 float value; /**< Servo value to set for servos. */
319 float speed; /**<
320 Fraction of max speed in range [0.0..1.0].
321 */
322 } MoveServoMessage_data_t;
323
324 MoveServoMessage_data_t *data;
325
326 interface_enum_map_t enum_map_RobotType;
327 public:
328 MoveServoMessage(const uint32_t ini_servo, const float ini_value, const float ini_speed);
331
332 explicit MoveServoMessage(const MoveServoMessage *m);
333 /* Methods */
334 uint32_t servo() const;
335 void set_servo(const uint32_t new_servo);
336 size_t maxlenof_servo() const;
337 float value() const;
338 void set_value(const float new_value);
339 size_t maxlenof_value() const;
340 float speed() const;
341 void set_speed(const float new_speed);
342 size_t maxlenof_speed() const;
343 virtual Message * clone() const;
344 };
345
347 {
348 private:
349 /** Internal data storage, do NOT modify! */
350 typedef struct {
351 int64_t timestamp_sec; /**< Interface Unix timestamp, seconds */
352 int64_t timestamp_usec; /**< Interface Unix timestamp, micro-seconds */
353 float speed; /**<
354 Fraction of max speed in range [0.0..1.0].
355 */
356 float head_yaw; /**< Head yaw */
357 float head_pitch; /**< Head pitch */
358 float l_shoulder_pitch; /**< Left shoulder pitch */
359 float l_shoulder_roll; /**< Left shoulder roll */
360 float l_elbow_yaw; /**< Left elbow yaw */
361 float l_elbow_roll; /**< Left elbow roll */
362 float l_wrist_yaw; /**< Left wrist yaw */
363 float l_hand; /**< Left hand */
364 float l_hip_yaw_pitch; /**< Left hip yaw pitch */
365 float l_hip_roll; /**< Left hip roll */
366 float l_hip_pitch; /**< Left hip pitch */
367 float l_knee_pitch; /**< Left knee pitch */
368 float l_ankle_pitch; /**< Left ankle pitch */
369 float l_ankle_roll; /**< Left ankle roll */
370 float r_shoulder_pitch; /**< Right shoulder pitch */
371 float r_shoulder_roll; /**< Right shoulder roll */
372 float r_elbow_yaw; /**< Right elbow yaw */
373 float r_elbow_roll; /**< Right elbow roll */
374 float r_wrist_yaw; /**< Right wrist yaw */
375 float r_hand; /**< Right hand */
376 float r_hip_yaw_pitch; /**< Right hip yaw pitch */
377 float r_hip_roll; /**< Right hip roll */
378 float r_hip_pitch; /**< Right hip pitch */
379 float r_knee_pitch; /**< Right knee pitch */
380 float r_ankle_pitch; /**< Right ankle pitch */
381 float r_ankle_roll; /**< Right ankle roll */
382 } MoveServosMessage_data_t;
383
384 MoveServosMessage_data_t *data;
385
386 interface_enum_map_t enum_map_RobotType;
387 public:
388 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);
391
392 explicit MoveServosMessage(const MoveServosMessage *m);
393 /* Methods */
394 float speed() const;
395 void set_speed(const float new_speed);
396 size_t maxlenof_speed() const;
397 float head_yaw() const;
398 void set_head_yaw(const float new_head_yaw);
399 size_t maxlenof_head_yaw() const;
400 float head_pitch() const;
401 void set_head_pitch(const float new_head_pitch);
402 size_t maxlenof_head_pitch() const;
403 float l_shoulder_pitch() const;
404 void set_l_shoulder_pitch(const float new_l_shoulder_pitch);
405 size_t maxlenof_l_shoulder_pitch() const;
406 float l_shoulder_roll() const;
407 void set_l_shoulder_roll(const float new_l_shoulder_roll);
408 size_t maxlenof_l_shoulder_roll() const;
409 float l_elbow_yaw() const;
410 void set_l_elbow_yaw(const float new_l_elbow_yaw);
411 size_t maxlenof_l_elbow_yaw() const;
412 float l_elbow_roll() const;
413 void set_l_elbow_roll(const float new_l_elbow_roll);
414 size_t maxlenof_l_elbow_roll() const;
415 float l_wrist_yaw() const;
416 void set_l_wrist_yaw(const float new_l_wrist_yaw);
417 size_t maxlenof_l_wrist_yaw() const;
418 float l_hand() const;
419 void set_l_hand(const float new_l_hand);
420 size_t maxlenof_l_hand() const;
421 float l_hip_yaw_pitch() const;
422 void set_l_hip_yaw_pitch(const float new_l_hip_yaw_pitch);
423 size_t maxlenof_l_hip_yaw_pitch() const;
424 float l_hip_roll() const;
425 void set_l_hip_roll(const float new_l_hip_roll);
426 size_t maxlenof_l_hip_roll() const;
427 float l_hip_pitch() const;
428 void set_l_hip_pitch(const float new_l_hip_pitch);
429 size_t maxlenof_l_hip_pitch() const;
430 float l_knee_pitch() const;
431 void set_l_knee_pitch(const float new_l_knee_pitch);
432 size_t maxlenof_l_knee_pitch() const;
433 float l_ankle_pitch() const;
434 void set_l_ankle_pitch(const float new_l_ankle_pitch);
435 size_t maxlenof_l_ankle_pitch() const;
436 float l_ankle_roll() const;
437 void set_l_ankle_roll(const float new_l_ankle_roll);
438 size_t maxlenof_l_ankle_roll() const;
439 float r_shoulder_pitch() const;
440 void set_r_shoulder_pitch(const float new_r_shoulder_pitch);
441 size_t maxlenof_r_shoulder_pitch() const;
442 float r_shoulder_roll() const;
443 void set_r_shoulder_roll(const float new_r_shoulder_roll);
444 size_t maxlenof_r_shoulder_roll() const;
445 float r_elbow_yaw() const;
446 void set_r_elbow_yaw(const float new_r_elbow_yaw);
447 size_t maxlenof_r_elbow_yaw() const;
448 float r_elbow_roll() const;
449 void set_r_elbow_roll(const float new_r_elbow_roll);
450 size_t maxlenof_r_elbow_roll() const;
451 float r_wrist_yaw() const;
452 void set_r_wrist_yaw(const float new_r_wrist_yaw);
453 size_t maxlenof_r_wrist_yaw() const;
454 float r_hand() const;
455 void set_r_hand(const float new_r_hand);
456 size_t maxlenof_r_hand() const;
457 float r_hip_yaw_pitch() const;
458 void set_r_hip_yaw_pitch(const float new_r_hip_yaw_pitch);
459 size_t maxlenof_r_hip_yaw_pitch() const;
460 float r_hip_roll() const;
461 void set_r_hip_roll(const float new_r_hip_roll);
462 size_t maxlenof_r_hip_roll() const;
463 float r_hip_pitch() const;
464 void set_r_hip_pitch(const float new_r_hip_pitch);
465 size_t maxlenof_r_hip_pitch() const;
466 float r_knee_pitch() const;
467 void set_r_knee_pitch(const float new_r_knee_pitch);
468 size_t maxlenof_r_knee_pitch() const;
469 float r_ankle_pitch() const;
470 void set_r_ankle_pitch(const float new_r_ankle_pitch);
471 size_t maxlenof_r_ankle_pitch() const;
472 float r_ankle_roll() const;
473 void set_r_ankle_roll(const float new_r_ankle_roll);
474 size_t maxlenof_r_ankle_roll() const;
475 virtual Message * clone() const;
476 };
477
478 virtual bool message_valid(const Message *message) const;
479 private:
482
483 public:
484 /* Methods */
485 RobotType robot_type() const;
486 void set_robot_type(const RobotType new_robot_type);
487 size_t maxlenof_robot_type() const;
488 uint8_t * robot_version() const;
489 uint8_t robot_version(unsigned int index) const;
490 void set_robot_version(unsigned int index, const uint8_t new_robot_version);
491 void set_robot_version(const uint8_t * new_robot_version);
492 size_t maxlenof_robot_version() const;
493 float head_yaw() const;
494 void set_head_yaw(const float new_head_yaw);
495 size_t maxlenof_head_yaw() const;
496 float head_pitch() const;
497 void set_head_pitch(const float new_head_pitch);
498 size_t maxlenof_head_pitch() const;
499 float l_shoulder_pitch() const;
500 void set_l_shoulder_pitch(const float new_l_shoulder_pitch);
501 size_t maxlenof_l_shoulder_pitch() const;
502 float l_shoulder_roll() const;
503 void set_l_shoulder_roll(const float new_l_shoulder_roll);
504 size_t maxlenof_l_shoulder_roll() const;
505 float l_elbow_yaw() const;
506 void set_l_elbow_yaw(const float new_l_elbow_yaw);
507 size_t maxlenof_l_elbow_yaw() const;
508 float l_elbow_roll() const;
509 void set_l_elbow_roll(const float new_l_elbow_roll);
510 size_t maxlenof_l_elbow_roll() const;
511 float l_wrist_yaw() const;
512 void set_l_wrist_yaw(const float new_l_wrist_yaw);
513 size_t maxlenof_l_wrist_yaw() const;
514 float l_hand() const;
515 void set_l_hand(const float new_l_hand);
516 size_t maxlenof_l_hand() const;
517 float l_hip_yaw_pitch() const;
518 void set_l_hip_yaw_pitch(const float new_l_hip_yaw_pitch);
519 size_t maxlenof_l_hip_yaw_pitch() const;
520 float l_hip_roll() const;
521 void set_l_hip_roll(const float new_l_hip_roll);
522 size_t maxlenof_l_hip_roll() const;
523 float l_hip_pitch() const;
524 void set_l_hip_pitch(const float new_l_hip_pitch);
525 size_t maxlenof_l_hip_pitch() const;
526 float l_knee_pitch() const;
527 void set_l_knee_pitch(const float new_l_knee_pitch);
528 size_t maxlenof_l_knee_pitch() const;
529 float l_ankle_pitch() const;
530 void set_l_ankle_pitch(const float new_l_ankle_pitch);
531 size_t maxlenof_l_ankle_pitch() const;
532 float l_ankle_roll() const;
533 void set_l_ankle_roll(const float new_l_ankle_roll);
534 size_t maxlenof_l_ankle_roll() const;
535 float r_shoulder_pitch() const;
536 void set_r_shoulder_pitch(const float new_r_shoulder_pitch);
537 size_t maxlenof_r_shoulder_pitch() const;
538 float r_shoulder_roll() const;
539 void set_r_shoulder_roll(const float new_r_shoulder_roll);
540 size_t maxlenof_r_shoulder_roll() const;
541 float r_elbow_yaw() const;
542 void set_r_elbow_yaw(const float new_r_elbow_yaw);
543 size_t maxlenof_r_elbow_yaw() const;
544 float r_elbow_roll() const;
545 void set_r_elbow_roll(const float new_r_elbow_roll);
546 size_t maxlenof_r_elbow_roll() const;
547 float r_wrist_yaw() const;
548 void set_r_wrist_yaw(const float new_r_wrist_yaw);
549 size_t maxlenof_r_wrist_yaw() const;
550 float r_hand() const;
551 void set_r_hand(const float new_r_hand);
552 size_t maxlenof_r_hand() const;
553 float r_hip_yaw_pitch() const;
554 void set_r_hip_yaw_pitch(const float new_r_hip_yaw_pitch);
555 size_t maxlenof_r_hip_yaw_pitch() const;
556 float r_hip_roll() const;
557 void set_r_hip_roll(const float new_r_hip_roll);
558 size_t maxlenof_r_hip_roll() const;
559 float r_hip_pitch() const;
560 void set_r_hip_pitch(const float new_r_hip_pitch);
561 size_t maxlenof_r_hip_pitch() const;
562 float r_knee_pitch() const;
563 void set_r_knee_pitch(const float new_r_knee_pitch);
564 size_t maxlenof_r_knee_pitch() const;
565 float r_ankle_pitch() const;
566 void set_r_ankle_pitch(const float new_r_ankle_pitch);
567 size_t maxlenof_r_ankle_pitch() const;
568 float r_ankle_roll() const;
569 void set_r_ankle_roll(const float new_r_ankle_roll);
570 size_t maxlenof_r_ankle_roll() const;
571 int32_t time() const;
572 void set_time(const int32_t new_time);
573 size_t maxlenof_time() const;
574 virtual Message * create_message(const char *type) const;
575
576 virtual void copy_values(const Interface *other);
577 virtual const char * enum_tostring(const char *enumtype, int val) const;
578
579};
580
581} // end namespace fawkes
582
583#endif
Base class for all Fawkes BlackBoard interfaces.
Definition: interface.h:80
const char * type() const
Get type of interface.
Definition: interface.cpp:652
Base class for all messages passed through interfaces in Fawkes BlackBoard.
Definition: message.h:44
MoveServoMessage Fawkes BlackBoard Interface Message.
size_t maxlenof_speed() const
Get maximum length of speed value.
void set_speed(const float new_speed)
Set speed value.
size_t maxlenof_servo() const
Get maximum length of servo value.
size_t maxlenof_value() const
Get maximum length of value value.
void set_value(const float new_value)
Set value value.
virtual Message * clone() const
Clone this message.
void set_servo(const uint32_t new_servo)
Set servo value.
MoveServosMessage Fawkes BlackBoard Interface Message.
void set_r_wrist_yaw(const float new_r_wrist_yaw)
Set r_wrist_yaw value.
size_t maxlenof_l_knee_pitch() const
Get maximum length of l_knee_pitch value.
size_t maxlenof_l_hip_pitch() const
Get maximum length of l_hip_pitch value.
size_t maxlenof_l_hip_roll() const
Get maximum length of l_hip_roll value.
size_t maxlenof_r_hand() const
Get maximum length of r_hand value.
void set_l_shoulder_pitch(const float new_l_shoulder_pitch)
Set l_shoulder_pitch value.
size_t maxlenof_l_wrist_yaw() const
Get maximum length of l_wrist_yaw value.
size_t maxlenof_l_ankle_pitch() const
Get maximum length of l_ankle_pitch value.
size_t maxlenof_r_elbow_yaw() const
Get maximum length of r_elbow_yaw value.
void set_r_shoulder_roll(const float new_r_shoulder_roll)
Set r_shoulder_roll value.
size_t maxlenof_l_shoulder_roll() const
Get maximum length of l_shoulder_roll value.
void set_r_hand(const float new_r_hand)
Set r_hand value.
size_t maxlenof_r_ankle_pitch() const
Get maximum length of r_ankle_pitch value.
size_t maxlenof_l_elbow_yaw() const
Get maximum length of l_elbow_yaw value.
void set_l_ankle_roll(const float new_l_ankle_roll)
Set l_ankle_roll value.
void set_l_shoulder_roll(const float new_l_shoulder_roll)
Set l_shoulder_roll value.
void set_l_elbow_yaw(const float new_l_elbow_yaw)
Set l_elbow_yaw value.
size_t maxlenof_r_shoulder_roll() const
Get maximum length of r_shoulder_roll value.
void set_l_elbow_roll(const float new_l_elbow_roll)
Set l_elbow_roll value.
size_t maxlenof_l_shoulder_pitch() const
Get maximum length of l_shoulder_pitch value.
void set_r_hip_roll(const float new_r_hip_roll)
Set r_hip_roll value.
void set_head_pitch(const float new_head_pitch)
Set head_pitch value.
void set_r_elbow_yaw(const float new_r_elbow_yaw)
Set r_elbow_yaw value.
void set_l_ankle_pitch(const float new_l_ankle_pitch)
Set l_ankle_pitch value.
void set_l_wrist_yaw(const float new_l_wrist_yaw)
Set l_wrist_yaw value.
void set_r_hip_pitch(const float new_r_hip_pitch)
Set r_hip_pitch value.
size_t maxlenof_l_hip_yaw_pitch() const
Get maximum length of l_hip_yaw_pitch value.
size_t maxlenof_l_hand() const
Get maximum length of l_hand value.
size_t maxlenof_r_elbow_roll() const
Get maximum length of r_elbow_roll value.
void set_l_hip_pitch(const float new_l_hip_pitch)
Set l_hip_pitch value.
void set_r_ankle_roll(const float new_r_ankle_roll)
Set r_ankle_roll value.
size_t maxlenof_r_hip_yaw_pitch() const
Get maximum length of r_hip_yaw_pitch value.
size_t maxlenof_r_wrist_yaw() const
Get maximum length of r_wrist_yaw value.
void set_r_knee_pitch(const float new_r_knee_pitch)
Set r_knee_pitch value.
size_t maxlenof_head_yaw() const
Get maximum length of head_yaw value.
size_t maxlenof_head_pitch() const
Get maximum length of head_pitch value.
void set_r_shoulder_pitch(const float new_r_shoulder_pitch)
Set r_shoulder_pitch value.
size_t maxlenof_speed() const
Get maximum length of speed value.
void set_l_knee_pitch(const float new_l_knee_pitch)
Set l_knee_pitch value.
void set_r_hip_yaw_pitch(const float new_r_hip_yaw_pitch)
Set r_hip_yaw_pitch value.
virtual Message * clone() const
Clone this message.
size_t maxlenof_r_knee_pitch() const
Get maximum length of r_knee_pitch value.
void set_l_hip_yaw_pitch(const float new_l_hip_yaw_pitch)
Set l_hip_yaw_pitch value.
size_t maxlenof_l_elbow_roll() const
Get maximum length of l_elbow_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.
void set_head_yaw(const float new_head_yaw)
Set head_yaw value.
size_t maxlenof_r_hip_roll() const
Get maximum length of r_hip_roll value.
size_t maxlenof_r_hip_pitch() const
Get maximum length of r_hip_pitch value.
size_t maxlenof_l_ankle_roll() const
Get maximum length of l_ankle_roll value.
void set_r_elbow_roll(const float new_r_elbow_roll)
Set r_elbow_roll value.
void set_speed(const float new_speed)
Set speed value.
void set_r_ankle_pitch(const float new_r_ankle_pitch)
Set r_ankle_pitch value.
void set_l_hip_roll(const float new_l_hip_roll)
Set l_hip_roll value.
void set_l_hand(const float new_l_hand)
Set l_hand value.
SetServoMessage Fawkes BlackBoard Interface Message.
void set_time(const int32_t new_time)
Set time value.
size_t maxlenof_time() const
Get maximum length of time value.
void set_servo(const uint32_t new_servo)
Set servo value.
virtual Message * clone() const
Clone this message.
size_t maxlenof_value() const
Get maximum length of value value.
size_t maxlenof_servo() const
Get maximum length of servo value.
void set_value(const float new_value)
Set value value.
SetServosMessage Fawkes BlackBoard Interface Message.
void set_time(const int32_t new_time)
Set time value.
size_t maxlenof_l_hand() const
Get maximum length of l_hand value.
size_t maxlenof_r_shoulder_pitch() const
Get maximum length of r_shoulder_pitch value.
void set_l_ankle_pitch(const float new_l_ankle_pitch)
Set l_ankle_pitch value.
void set_r_ankle_pitch(const float new_r_ankle_pitch)
Set r_ankle_pitch value.
float l_shoulder_pitch() const
Get l_shoulder_pitch value.
size_t maxlenof_l_elbow_yaw() const
Get maximum length of l_elbow_yaw value.
size_t maxlenof_r_hip_roll() const
Get maximum length of r_hip_roll value.
size_t maxlenof_l_hip_yaw_pitch() const
Get maximum length of l_hip_yaw_pitch value.
void set_head_pitch(const float new_head_pitch)
Set head_pitch value.
size_t maxlenof_head_pitch() const
Get maximum length of head_pitch value.
size_t maxlenof_head_yaw() const
Get maximum length of head_yaw value.
size_t maxlenof_r_wrist_yaw() const
Get maximum length of r_wrist_yaw value.
float r_shoulder_pitch() const
Get r_shoulder_pitch value.
size_t maxlenof_l_ankle_pitch() const
Get maximum length of l_ankle_pitch value.
size_t maxlenof_r_ankle_pitch() const
Get maximum length of r_ankle_pitch value.
void set_l_knee_pitch(const float new_l_knee_pitch)
Set l_knee_pitch value.
void set_r_ankle_roll(const float new_r_ankle_roll)
Set r_ankle_roll value.
size_t maxlenof_r_elbow_roll() const
Get maximum length of r_elbow_roll value.
void set_r_hip_roll(const float new_r_hip_roll)
Set r_hip_roll value.
size_t maxlenof_l_wrist_yaw() const
Get maximum length of l_wrist_yaw value.
size_t maxlenof_r_hand() const
Get maximum length of r_hand value.
void set_r_hand(const float new_r_hand)
Set r_hand value.
void set_r_shoulder_roll(const float new_r_shoulder_roll)
Set r_shoulder_roll value.
void set_l_hip_pitch(const float new_l_hip_pitch)
Set l_hip_pitch value.
void set_l_hip_yaw_pitch(const float new_l_hip_yaw_pitch)
Set l_hip_yaw_pitch value.
void set_r_shoulder_pitch(const float new_r_shoulder_pitch)
Set r_shoulder_pitch value.
size_t maxlenof_r_elbow_yaw() const
Get maximum length of r_elbow_yaw value.
void set_r_hip_yaw_pitch(const float new_r_hip_yaw_pitch)
Set r_hip_yaw_pitch value.
size_t maxlenof_l_elbow_roll() const
Get maximum length of l_elbow_roll value.
size_t maxlenof_l_hip_roll() const
Get maximum length of l_hip_roll value.
void set_l_ankle_roll(const float new_l_ankle_roll)
Set l_ankle_roll value.
size_t maxlenof_l_shoulder_pitch() const
Get maximum length of l_shoulder_pitch value.
void set_r_elbow_yaw(const float new_r_elbow_yaw)
Set r_elbow_yaw value.
size_t maxlenof_l_ankle_roll() const
Get maximum length of l_ankle_roll value.
size_t maxlenof_r_hip_pitch() const
Get maximum length of r_hip_pitch value.
void set_r_elbow_roll(const float new_r_elbow_roll)
Set r_elbow_roll value.
size_t maxlenof_r_shoulder_roll() const
Get maximum length of r_shoulder_roll value.
void set_l_hand(const float new_l_hand)
Set l_hand value.
size_t maxlenof_l_shoulder_roll() const
Get maximum length of l_shoulder_roll value.
void set_r_knee_pitch(const float new_r_knee_pitch)
Set r_knee_pitch value.
void set_l_shoulder_pitch(const float new_l_shoulder_pitch)
Set l_shoulder_pitch value.
void set_r_hip_pitch(const float new_r_hip_pitch)
Set r_hip_pitch value.
void set_head_yaw(const float new_head_yaw)
Set head_yaw value.
size_t maxlenof_r_hip_yaw_pitch() const
Get maximum length of r_hip_yaw_pitch value.
size_t maxlenof_l_hip_pitch() const
Get maximum length of l_hip_pitch value.
void set_l_hip_roll(const float new_l_hip_roll)
Set l_hip_roll value.
size_t maxlenof_r_knee_pitch() const
Get maximum length of r_knee_pitch value.
size_t maxlenof_l_knee_pitch() const
Get maximum length of l_knee_pitch value.
size_t maxlenof_r_ankle_roll() const
Get maximum length of r_ankle_roll value.
void set_l_wrist_yaw(const float new_l_wrist_yaw)
Set l_wrist_yaw value.
virtual Message * clone() const
Clone this message.
void set_l_shoulder_roll(const float new_l_shoulder_roll)
Set l_shoulder_roll value.
void set_l_elbow_yaw(const float new_l_elbow_yaw)
Set l_elbow_yaw value.
size_t maxlenof_time() const
Get maximum length of time value.
void set_l_elbow_roll(const float new_l_elbow_roll)
Set l_elbow_roll value.
void set_r_wrist_yaw(const float new_r_wrist_yaw)
Set r_wrist_yaw value.
NaoJointPositionInterface Fawkes BlackBoard Interface.
static const uint32_t SERVO_l_elbow_roll
SERVO_l_elbow_roll constant.
size_t maxlenof_head_pitch() const
Get maximum length of head_pitch value.
static const uint32_t SERVO_r_elbow_yaw
SERVO_r_elbow_yaw constant.
void set_l_wrist_yaw(const float new_l_wrist_yaw)
Set l_wrist_yaw value.
float l_wrist_yaw() const
Get l_wrist_yaw value.
float r_hip_pitch() const
Get r_hip_pitch value.
size_t maxlenof_l_hip_yaw_pitch() const
Get maximum length of l_hip_yaw_pitch value.
void set_r_ankle_pitch(const float new_r_ankle_pitch)
Set r_ankle_pitch value.
float l_ankle_roll() const
Get l_ankle_roll value.
static const uint32_t SERVO_head_pitch
SERVO_head_pitch constant.
void set_r_hip_pitch(const float new_r_hip_pitch)
Set r_hip_pitch value.
static const uint32_t SERVO_l_hip_pitch
SERVO_l_hip_pitch constant.
float r_knee_pitch() const
Get r_knee_pitch value.
void set_r_elbow_yaw(const float new_r_elbow_yaw)
Set r_elbow_yaw value.
size_t maxlenof_r_elbow_yaw() const
Get maximum length of r_elbow_yaw value.
void set_l_ankle_roll(const float new_l_ankle_roll)
Set l_ankle_roll value.
size_t maxlenof_l_shoulder_roll() const
Get maximum length of l_shoulder_roll value.
void set_r_shoulder_roll(const float new_r_shoulder_roll)
Set r_shoulder_roll value.
static const uint32_t SERVO_r_knee_pitch
SERVO_r_knee_pitch constant.
size_t maxlenof_r_wrist_yaw() const
Get maximum length of r_wrist_yaw value.
float l_ankle_pitch() const
Get l_ankle_pitch value.
float r_hip_yaw_pitch() const
Get r_hip_yaw_pitch value.
size_t maxlenof_l_hip_roll() const
Get maximum length of l_hip_roll value.
size_t maxlenof_l_ankle_roll() const
Get maximum length of l_ankle_roll value.
float l_elbow_roll() const
Get l_elbow_roll value.
size_t maxlenof_head_yaw() const
Get maximum length of head_yaw value.
void set_l_shoulder_pitch(const float new_l_shoulder_pitch)
Set l_shoulder_pitch value.
size_t maxlenof_r_hip_yaw_pitch() const
Get maximum length of r_hip_yaw_pitch value.
static const uint32_t SERVO_r_elbow_roll
SERVO_r_elbow_roll constant.
void set_r_knee_pitch(const float new_r_knee_pitch)
Set r_knee_pitch value.
static const uint32_t SERVO_l_shoulder_roll
SERVO_l_shoulder_roll constant.
static const uint32_t SERVO_l_knee_pitch
SERVO_l_knee_pitch constant.
void set_r_hip_yaw_pitch(const float new_r_hip_yaw_pitch)
Set r_hip_yaw_pitch value.
void set_l_ankle_pitch(const float new_l_ankle_pitch)
Set l_ankle_pitch value.
void set_r_wrist_yaw(const float new_r_wrist_yaw)
Set r_wrist_yaw value.
static const uint32_t SERVO_r_hip_roll
SERVO_r_hip_roll constant.
size_t maxlenof_r_elbow_roll() const
Get maximum length of r_elbow_roll value.
size_t maxlenof_l_knee_pitch() const
Get maximum length of l_knee_pitch value.
float r_shoulder_pitch() const
Get r_shoulder_pitch value.
float r_ankle_pitch() const
Get r_ankle_pitch value.
float l_knee_pitch() const
Get l_knee_pitch value.
void set_l_elbow_yaw(const float new_l_elbow_yaw)
Set l_elbow_yaw value.
static const uint32_t SERVO_l_hip_roll
SERVO_l_hip_roll constant.
static const uint32_t SERVO_l_elbow_yaw
SERVO_l_elbow_yaw constant.
void set_l_hip_yaw_pitch(const float new_l_hip_yaw_pitch)
Set l_hip_yaw_pitch value.
size_t maxlenof_l_elbow_roll() const
Get maximum length of l_elbow_roll value.
void set_r_elbow_roll(const float new_r_elbow_roll)
Set r_elbow_roll value.
size_t maxlenof_r_hip_pitch() const
Get maximum length of r_hip_pitch value.
float head_pitch() const
Get head_pitch value.
size_t maxlenof_r_knee_pitch() const
Get maximum length of r_knee_pitch value.
float r_elbow_yaw() const
Get r_elbow_yaw value.
size_t maxlenof_robot_version() const
Get maximum length of robot_version value.
size_t maxlenof_r_ankle_roll() const
Get maximum length of r_ankle_roll value.
void set_l_hand(const float new_l_hand)
Set l_hand value.
static const uint32_t SERVO_r_ankle_roll
SERVO_r_ankle_roll constant.
static const uint32_t SERVO_r_shoulder_roll
SERVO_r_shoulder_roll constant.
static const uint32_t SERVO_r_hip_pitch
SERVO_r_hip_pitch constant.
size_t maxlenof_l_ankle_pitch() const
Get maximum length of l_ankle_pitch value.
static const uint32_t SERVO_r_wrist_yaw
SERVO_r_wrist_yaw constant.
void set_time(const int32_t new_time)
Set time value.
static const uint32_t SERVO_max
SERVO_max constant.
float l_shoulder_roll() const
Get l_shoulder_roll value.
void set_l_shoulder_roll(const float new_l_shoulder_roll)
Set l_shoulder_roll value.
void set_robot_version(unsigned int index, const uint8_t new_robot_version)
Set robot_version value at given index.
virtual bool message_valid(const Message *message) const
Check if message is valid and can be enqueued.
static const uint32_t SERVO_r_ankle_pitch
SERVO_r_ankle_pitch constant.
virtual void copy_values(const Interface *other)
Copy values from other interface.
float r_hip_roll() const
Get r_hip_roll value.
void set_r_ankle_roll(const float new_r_ankle_roll)
Set r_ankle_roll value.
static const uint32_t SERVO_l_wrist_yaw
SERVO_l_wrist_yaw constant.
static const uint32_t SERVO_r_hip_yaw_pitch
SERVO_r_hip_yaw_pitch constant.
float r_ankle_roll() const
Get r_ankle_roll value.
size_t maxlenof_r_shoulder_roll() const
Get maximum length of r_shoulder_roll value.
float r_shoulder_roll() const
Get r_shoulder_roll value.
void set_l_knee_pitch(const float new_l_knee_pitch)
Set l_knee_pitch value.
static const uint32_t SERVO_l_hand
SERVO_l_hand constant.
uint8_t * robot_version() const
Get robot_version value.
size_t maxlenof_l_elbow_yaw() const
Get maximum length of l_elbow_yaw value.
RobotType robot_type() const
Get robot_type value.
size_t maxlenof_r_ankle_pitch() const
Get maximum length of r_ankle_pitch value.
void set_r_shoulder_pitch(const float new_r_shoulder_pitch)
Set r_shoulder_pitch value.
float l_hip_yaw_pitch() const
Get l_hip_yaw_pitch value.
size_t maxlenof_r_hand() const
Get maximum length of r_hand value.
static const uint32_t SERVO_r_shoulder_pitch
SERVO_r_shoulder_pitch constant.
size_t maxlenof_time() const
Get maximum length of time value.
static const uint32_t SERVO_min
SERVO_min constant.
void set_l_elbow_roll(const float new_l_elbow_roll)
Set l_elbow_roll value.
float l_hip_roll() const
Get l_hip_roll value.
static const uint32_t SERVO_l_ankle_roll
SERVO_l_ankle_roll constant.
static const uint32_t SERVO_r_hand
SERVO_r_hand constant.
float r_elbow_roll() const
Get r_elbow_roll value.
static const uint32_t SERVO_l_shoulder_pitch
SERVO_l_shoulder_pitch constant.
float l_hip_pitch() const
Get l_hip_pitch value.
void set_r_hip_roll(const float new_r_hip_roll)
Set r_hip_roll value.
static const uint32_t SERVO_head_yaw
SERVO_head_yaw constant.
void set_robot_type(const RobotType new_robot_type)
Set robot_type value.
void set_l_hip_pitch(const float new_l_hip_pitch)
Set l_hip_pitch value.
virtual const char * enum_tostring(const char *enumtype, int val) const
Convert arbitrary enum value to string.
float l_shoulder_pitch() const
Get l_shoulder_pitch value.
void set_head_yaw(const float new_head_yaw)
Set head_yaw value.
size_t maxlenof_r_hip_roll() const
Get maximum length of r_hip_roll value.
static const uint32_t SERVO_l_hip_yaw_pitch
SERVO_l_hip_yaw_pitch constant.
static const uint32_t SERVO_l_ankle_pitch
SERVO_l_ankle_pitch constant.
void set_head_pitch(const float new_head_pitch)
Set head_pitch value.
size_t maxlenof_l_hand() const
Get maximum length of l_hand value.
RobotType
Enumeration describing the actual version of the robot that's being used.
@ ROBOTYPE_ACADEMIC
Academic version with 25 DoF and touch sensors.
@ ROBOTYPE_ROBOCUP
RoboCup version with 21 DoF.
virtual Message * create_message(const char *type) const
Create message based on type name.
void set_l_hip_roll(const float new_l_hip_roll)
Set l_hip_roll value.
float l_elbow_yaw() const
Get l_elbow_yaw value.
float r_wrist_yaw() const
Get r_wrist_yaw value.
size_t maxlenof_robot_type() const
Get maximum length of robot_type value.
void set_r_hand(const float new_r_hand)
Set r_hand value.
size_t maxlenof_l_shoulder_pitch() const
Get maximum length of l_shoulder_pitch value.
size_t maxlenof_l_hip_pitch() const
Get maximum length of l_hip_pitch value.
size_t maxlenof_l_wrist_yaw() const
Get maximum length of l_wrist_yaw value.
size_t maxlenof_r_shoulder_pitch() const
Get maximum length of r_shoulder_pitch value.
const char * tostring_RobotType(RobotType value) const
Convert RobotType constant to string.
float head_yaw() const
Get head_yaw value.
Fawkes library namespace.
std::map< int, std::string > interface_enum_map_t
Map of enum integer to string values.
Definition: types.h:54