Fawkes API Fawkes Development Version
NaoJointStiffnessInterface.h
1
2/***************************************************************************
3 * NaoJointStiffnessInterface.h - 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#ifndef _INTERFACES_NAOJOINTSTIFFNESSINTERFACE_H_
25#define _INTERFACES_NAOJOINTSTIFFNESSINTERFACE_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(NaoJointStiffnessInterface)
37 /// @endcond
38 public:
39 /* constants */
40
41 private:
42 /** Internal data storage, do NOT modify! */
43 typedef struct {
44 int64_t timestamp_sec; /**< Interface Unix timestamp, seconds */
45 int64_t timestamp_usec; /**< Interface Unix timestamp, micro-seconds */
46 float head_yaw; /**< Head yaw */
47 float head_pitch; /**< Head pitch */
48 float l_shoulder_pitch; /**< Left shoulder pitch */
49 float l_shoulder_roll; /**< Left shoulder roll */
50 float l_elbow_yaw; /**< Left elbow yaw */
51 float l_elbow_roll; /**< Left elbow roll */
52 float l_wrist_yaw; /**< Left wrist yaw */
53 float l_hand; /**< Left hand */
54 float l_hip_yaw_pitch; /**< Left hip yaw pitch */
55 float l_hip_roll; /**< Left hip roll */
56 float l_hip_pitch; /**< Left hip pitch */
57 float l_knee_pitch; /**< Left knee pitch */
58 float l_ankle_pitch; /**< Left ankle pitch */
59 float l_ankle_roll; /**< Left ankle roll */
60 float r_shoulder_pitch; /**< Right shoulder pitch */
61 float r_shoulder_roll; /**< Right shoulder roll */
62 float r_elbow_yaw; /**< Right elbow yaw */
63 float r_elbow_roll; /**< Right elbow roll */
64 float r_wrist_yaw; /**< Right wrist yaw */
65 float r_hand; /**< Right hand */
66 float r_hip_yaw_pitch; /**< Right hip yaw pitch */
67 float r_hip_roll; /**< Right hip roll */
68 float r_hip_pitch; /**< Right hip pitch */
69 float r_knee_pitch; /**< Right knee pitch */
70 float r_ankle_pitch; /**< Right ankle pitch */
71 float r_ankle_roll; /**< Right ankle roll */
72 float minimum; /**<
73 Minimum stiffness of all joints. On the RoboCup version of the Nao this
74 ignores the hand and wrist values.
75 */
76 } NaoJointStiffnessInterface_data_t;
77
78 NaoJointStiffnessInterface_data_t *data;
79
80 public:
81 /* messages */
83 {
84 private:
85 /** Internal data storage, do NOT modify! */
86 typedef struct {
87 int64_t timestamp_sec; /**< Interface Unix timestamp, seconds */
88 int64_t timestamp_usec; /**< Interface Unix timestamp, micro-seconds */
89 uint32_t servo; /**<
90 A concatenated list of SERVO_* constants from the
91 NaoJointPositionInterface to define the servos that should
92 execute the movement. The list shall consist of binary or'ed
93 SERVO_* constants.
94 */
95 float value; /**< Servo value to set for servos. */
96 float time_sec; /**< Time when to reach the stiffness. */
97 } SetStiffnessMessage_data_t;
98
99 SetStiffnessMessage_data_t *data;
100
101 public:
102 SetStiffnessMessage(const uint32_t ini_servo, const float ini_value, const float ini_time_sec);
105
106 explicit SetStiffnessMessage(const SetStiffnessMessage *m);
107 /* Methods */
108 uint32_t servo() const;
109 void set_servo(const uint32_t new_servo);
110 size_t maxlenof_servo() const;
111 float value() const;
112 void set_value(const float new_value);
113 size_t maxlenof_value() const;
114 float time_sec() const;
115 void set_time_sec(const float new_time_sec);
116 size_t maxlenof_time_sec() const;
117 virtual Message * clone() const;
118 };
119
121 {
122 private:
123 /** Internal data storage, do NOT modify! */
124 typedef struct {
125 int64_t timestamp_sec; /**< Interface Unix timestamp, seconds */
126 int64_t timestamp_usec; /**< Interface Unix timestamp, micro-seconds */
127 float value; /**< Servo value to set for servos. */
128 float time_sec; /**< Time when to reach the stiffness. */
129 } SetBodyStiffnessMessage_data_t;
130
131 SetBodyStiffnessMessage_data_t *data;
132
133 public:
134 SetBodyStiffnessMessage(const float ini_value, const float ini_time_sec);
137
139 /* Methods */
140 float value() const;
141 void set_value(const float new_value);
142 size_t maxlenof_value() const;
143 float time_sec() const;
144 void set_time_sec(const float new_time_sec);
145 size_t maxlenof_time_sec() const;
146 virtual Message * clone() const;
147 };
148
150 {
151 private:
152 /** Internal data storage, do NOT modify! */
153 typedef struct {
154 int64_t timestamp_sec; /**< Interface Unix timestamp, seconds */
155 int64_t timestamp_usec; /**< Interface Unix timestamp, micro-seconds */
156 float time_sec; /**< Time when to reach the stiffness. */
157 float head_yaw; /**< Head yaw */
158 float head_pitch; /**< Head pitch */
159 float l_shoulder_pitch; /**< Left shoulder pitch */
160 float l_shoulder_roll; /**< Left shoulder roll */
161 float l_elbow_yaw; /**< Left elbow yaw */
162 float l_elbow_roll; /**< Left elbow roll */
163 float l_wrist_yaw; /**< Left wrist yaw */
164 float l_hand; /**< Left hand */
165 float l_hip_yaw_pitch; /**< Left hip yaw pitch */
166 float l_hip_roll; /**< Left hip roll */
167 float l_hip_pitch; /**< Left hip pitch */
168 float l_knee_pitch; /**< Left knee pitch */
169 float l_ankle_pitch; /**< Left ankle pitch */
170 float l_ankle_roll; /**< Left ankle roll */
171 float r_shoulder_pitch; /**< Right shoulder pitch */
172 float r_shoulder_roll; /**< Right shoulder roll */
173 float r_elbow_yaw; /**< Right elbow yaw */
174 float r_wrist_yaw; /**< Right wrist yaw */
175 float r_hand; /**< Right hand */
176 float r_hip_yaw_pitch; /**< Right hip yaw pitch */
177 float r_hip_roll; /**< Right hip roll */
178 float r_hip_pitch; /**< Right hip pitch */
179 float r_knee_pitch; /**< Right knee pitch */
180 float r_ankle_pitch; /**< Right ankle pitch */
181 float r_ankle_roll; /**< Right ankle roll */
182 float r_elbow_roll; /**< Right elbow roll */
183 } SetStiffnessesMessage_data_t;
184
185 SetStiffnessesMessage_data_t *data;
186
187 public:
188 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);
191
193 /* Methods */
194 float time_sec() const;
195 void set_time_sec(const float new_time_sec);
196 size_t maxlenof_time_sec() const;
197 float head_yaw() const;
198 void set_head_yaw(const float new_head_yaw);
199 size_t maxlenof_head_yaw() const;
200 float head_pitch() const;
201 void set_head_pitch(const float new_head_pitch);
202 size_t maxlenof_head_pitch() const;
203 float l_shoulder_pitch() const;
204 void set_l_shoulder_pitch(const float new_l_shoulder_pitch);
205 size_t maxlenof_l_shoulder_pitch() const;
206 float l_shoulder_roll() const;
207 void set_l_shoulder_roll(const float new_l_shoulder_roll);
208 size_t maxlenof_l_shoulder_roll() const;
209 float l_elbow_yaw() const;
210 void set_l_elbow_yaw(const float new_l_elbow_yaw);
211 size_t maxlenof_l_elbow_yaw() const;
212 float l_elbow_roll() const;
213 void set_l_elbow_roll(const float new_l_elbow_roll);
214 size_t maxlenof_l_elbow_roll() const;
215 float l_wrist_yaw() const;
216 void set_l_wrist_yaw(const float new_l_wrist_yaw);
217 size_t maxlenof_l_wrist_yaw() const;
218 float l_hand() const;
219 void set_l_hand(const float new_l_hand);
220 size_t maxlenof_l_hand() const;
221 float l_hip_yaw_pitch() const;
222 void set_l_hip_yaw_pitch(const float new_l_hip_yaw_pitch);
223 size_t maxlenof_l_hip_yaw_pitch() const;
224 float l_hip_roll() const;
225 void set_l_hip_roll(const float new_l_hip_roll);
226 size_t maxlenof_l_hip_roll() const;
227 float l_hip_pitch() const;
228 void set_l_hip_pitch(const float new_l_hip_pitch);
229 size_t maxlenof_l_hip_pitch() const;
230 float l_knee_pitch() const;
231 void set_l_knee_pitch(const float new_l_knee_pitch);
232 size_t maxlenof_l_knee_pitch() const;
233 float l_ankle_pitch() const;
234 void set_l_ankle_pitch(const float new_l_ankle_pitch);
235 size_t maxlenof_l_ankle_pitch() const;
236 float l_ankle_roll() const;
237 void set_l_ankle_roll(const float new_l_ankle_roll);
238 size_t maxlenof_l_ankle_roll() const;
239 float r_shoulder_pitch() const;
240 void set_r_shoulder_pitch(const float new_r_shoulder_pitch);
241 size_t maxlenof_r_shoulder_pitch() const;
242 float r_shoulder_roll() const;
243 void set_r_shoulder_roll(const float new_r_shoulder_roll);
244 size_t maxlenof_r_shoulder_roll() const;
245 float r_elbow_yaw() const;
246 void set_r_elbow_yaw(const float new_r_elbow_yaw);
247 size_t maxlenof_r_elbow_yaw() const;
248 float r_wrist_yaw() const;
249 void set_r_wrist_yaw(const float new_r_wrist_yaw);
250 size_t maxlenof_r_wrist_yaw() const;
251 float r_hand() const;
252 void set_r_hand(const float new_r_hand);
253 size_t maxlenof_r_hand() const;
254 float r_hip_yaw_pitch() const;
255 void set_r_hip_yaw_pitch(const float new_r_hip_yaw_pitch);
256 size_t maxlenof_r_hip_yaw_pitch() const;
257 float r_hip_roll() const;
258 void set_r_hip_roll(const float new_r_hip_roll);
259 size_t maxlenof_r_hip_roll() const;
260 float r_hip_pitch() const;
261 void set_r_hip_pitch(const float new_r_hip_pitch);
262 size_t maxlenof_r_hip_pitch() const;
263 float r_knee_pitch() const;
264 void set_r_knee_pitch(const float new_r_knee_pitch);
265 size_t maxlenof_r_knee_pitch() const;
266 float r_ankle_pitch() const;
267 void set_r_ankle_pitch(const float new_r_ankle_pitch);
268 size_t maxlenof_r_ankle_pitch() const;
269 float r_ankle_roll() const;
270 void set_r_ankle_roll(const float new_r_ankle_roll);
271 size_t maxlenof_r_ankle_roll() const;
272 float r_elbow_roll() const;
273 void set_r_elbow_roll(const float new_r_elbow_roll);
274 size_t maxlenof_r_elbow_roll() const;
275 virtual Message * clone() const;
276 };
277
278 virtual bool message_valid(const Message *message) const;
279 private:
282
283 public:
284 /* Methods */
285 float head_yaw() const;
286 void set_head_yaw(const float new_head_yaw);
287 size_t maxlenof_head_yaw() const;
288 float head_pitch() const;
289 void set_head_pitch(const float new_head_pitch);
290 size_t maxlenof_head_pitch() const;
291 float l_shoulder_pitch() const;
292 void set_l_shoulder_pitch(const float new_l_shoulder_pitch);
293 size_t maxlenof_l_shoulder_pitch() const;
294 float l_shoulder_roll() const;
295 void set_l_shoulder_roll(const float new_l_shoulder_roll);
296 size_t maxlenof_l_shoulder_roll() const;
297 float l_elbow_yaw() const;
298 void set_l_elbow_yaw(const float new_l_elbow_yaw);
299 size_t maxlenof_l_elbow_yaw() const;
300 float l_elbow_roll() const;
301 void set_l_elbow_roll(const float new_l_elbow_roll);
302 size_t maxlenof_l_elbow_roll() const;
303 float l_wrist_yaw() const;
304 void set_l_wrist_yaw(const float new_l_wrist_yaw);
305 size_t maxlenof_l_wrist_yaw() const;
306 float l_hand() const;
307 void set_l_hand(const float new_l_hand);
308 size_t maxlenof_l_hand() const;
309 float l_hip_yaw_pitch() const;
310 void set_l_hip_yaw_pitch(const float new_l_hip_yaw_pitch);
311 size_t maxlenof_l_hip_yaw_pitch() const;
312 float l_hip_roll() const;
313 void set_l_hip_roll(const float new_l_hip_roll);
314 size_t maxlenof_l_hip_roll() const;
315 float l_hip_pitch() const;
316 void set_l_hip_pitch(const float new_l_hip_pitch);
317 size_t maxlenof_l_hip_pitch() const;
318 float l_knee_pitch() const;
319 void set_l_knee_pitch(const float new_l_knee_pitch);
320 size_t maxlenof_l_knee_pitch() const;
321 float l_ankle_pitch() const;
322 void set_l_ankle_pitch(const float new_l_ankle_pitch);
323 size_t maxlenof_l_ankle_pitch() const;
324 float l_ankle_roll() const;
325 void set_l_ankle_roll(const float new_l_ankle_roll);
326 size_t maxlenof_l_ankle_roll() const;
327 float r_shoulder_pitch() const;
328 void set_r_shoulder_pitch(const float new_r_shoulder_pitch);
329 size_t maxlenof_r_shoulder_pitch() const;
330 float r_shoulder_roll() const;
331 void set_r_shoulder_roll(const float new_r_shoulder_roll);
332 size_t maxlenof_r_shoulder_roll() const;
333 float r_elbow_yaw() const;
334 void set_r_elbow_yaw(const float new_r_elbow_yaw);
335 size_t maxlenof_r_elbow_yaw() const;
336 float r_elbow_roll() const;
337 void set_r_elbow_roll(const float new_r_elbow_roll);
338 size_t maxlenof_r_elbow_roll() const;
339 float r_wrist_yaw() const;
340 void set_r_wrist_yaw(const float new_r_wrist_yaw);
341 size_t maxlenof_r_wrist_yaw() const;
342 float r_hand() const;
343 void set_r_hand(const float new_r_hand);
344 size_t maxlenof_r_hand() const;
345 float r_hip_yaw_pitch() const;
346 void set_r_hip_yaw_pitch(const float new_r_hip_yaw_pitch);
347 size_t maxlenof_r_hip_yaw_pitch() const;
348 float r_hip_roll() const;
349 void set_r_hip_roll(const float new_r_hip_roll);
350 size_t maxlenof_r_hip_roll() const;
351 float r_hip_pitch() const;
352 void set_r_hip_pitch(const float new_r_hip_pitch);
353 size_t maxlenof_r_hip_pitch() const;
354 float r_knee_pitch() const;
355 void set_r_knee_pitch(const float new_r_knee_pitch);
356 size_t maxlenof_r_knee_pitch() const;
357 float r_ankle_pitch() const;
358 void set_r_ankle_pitch(const float new_r_ankle_pitch);
359 size_t maxlenof_r_ankle_pitch() const;
360 float r_ankle_roll() const;
361 void set_r_ankle_roll(const float new_r_ankle_roll);
362 size_t maxlenof_r_ankle_roll() const;
363 float minimum() const;
364 void set_minimum(const float new_minimum);
365 size_t maxlenof_minimum() const;
366 virtual Message * create_message(const char *type) const;
367
368 virtual void copy_values(const Interface *other);
369 virtual const char * enum_tostring(const char *enumtype, int val) const;
370
371};
372
373} // end namespace fawkes
374
375#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
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.
size_t maxlenof_l_hip_pitch() const
Get maximum length of l_hip_pitch value.
float l_elbow_roll() const
Get l_elbow_roll value.
size_t maxlenof_l_elbow_yaw() const
Get maximum length of l_elbow_yaw 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.
size_t maxlenof_r_hip_pitch() const
Get maximum length of r_hip_pitch value.
float l_shoulder_roll() const
Get l_shoulder_roll value.
size_t maxlenof_l_ankle_roll() const
Get maximum length of l_ankle_roll value.
void set_l_shoulder_pitch(const float new_l_shoulder_pitch)
Set l_shoulder_pitch value.
size_t maxlenof_r_shoulder_roll() const
Get maximum length of r_shoulder_roll value.
float l_shoulder_pitch() const
Get l_shoulder_pitch value.
float r_elbow_yaw() const
Get r_elbow_yaw value.
size_t maxlenof_r_knee_pitch() const
Get maximum length of r_knee_pitch value.
size_t maxlenof_minimum() const
Get maximum length of minimum value.
size_t maxlenof_l_shoulder_roll() const
Get maximum length of l_shoulder_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.
float r_ankle_roll() const
Get r_ankle_roll value.
void set_r_hip_pitch(const float new_r_hip_pitch)
Set r_hip_pitch value.
float l_hip_roll() const
Get l_hip_roll value.
size_t maxlenof_r_elbow_yaw() const
Get maximum length of r_elbow_yaw value.
float r_hip_pitch() const
Get r_hip_pitch value.
size_t maxlenof_r_ankle_pitch() const
Get maximum length of r_ankle_pitch value.
float r_elbow_roll() const
Get r_elbow_roll value.
float l_elbow_yaw() const
Get l_elbow_yaw value.
float l_ankle_roll() const
Get l_ankle_roll value.
void set_l_elbow_yaw(const float new_l_elbow_yaw)
Set l_elbow_yaw value.
void set_r_hip_yaw_pitch(const float new_r_hip_yaw_pitch)
Set r_hip_yaw_pitch value.
void set_r_wrist_yaw(const float new_r_wrist_yaw)
Set r_wrist_yaw value.
void set_l_hip_roll(const float new_l_hip_roll)
Set l_hip_roll value.
size_t maxlenof_l_ankle_pitch() const
Get maximum length of l_ankle_pitch value.
float l_ankle_pitch() const
Get l_ankle_pitch value.
void set_minimum(const float new_minimum)
Set minimum value.
void set_r_shoulder_pitch(const float new_r_shoulder_pitch)
Set r_shoulder_pitch value.
float l_hip_pitch() const
Get l_hip_pitch value.
size_t maxlenof_l_hand() const
Get maximum length of l_hand value.
float r_wrist_yaw() const
Get r_wrist_yaw value.
void set_head_pitch(const float new_head_pitch)
Set head_pitch value.
float r_shoulder_roll() const
Get r_shoulder_roll value.
virtual Message * create_message(const char *type) const
Create message based on type name.
void set_l_knee_pitch(const float new_l_knee_pitch)
Set l_knee_pitch value.
void set_l_hip_yaw_pitch(const float new_l_hip_yaw_pitch)
Set l_hip_yaw_pitch value.
float l_wrist_yaw() const
Get l_wrist_yaw value.
void set_r_hand(const float new_r_hand)
Set r_hand value.
float head_yaw() const
Get head_yaw value.
size_t maxlenof_r_ankle_roll() const
Get maximum length of r_ankle_roll value.
void set_l_shoulder_roll(const float new_l_shoulder_roll)
Set l_shoulder_roll value.
float l_hip_yaw_pitch() const
Get l_hip_yaw_pitch value.
void set_l_ankle_pitch(const float new_l_ankle_pitch)
Set l_ankle_pitch value.
virtual bool message_valid(const Message *message) const
Check if message is valid and can be enqueued.
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.
virtual const char * enum_tostring(const char *enumtype, int val) const
Convert arbitrary enum value to string.
float head_pitch() const
Get head_pitch value.
float r_knee_pitch() const
Get r_knee_pitch value.
size_t maxlenof_l_elbow_roll() const
Get maximum length of l_elbow_roll value.
size_t maxlenof_r_wrist_yaw() const
Get maximum length of r_wrist_yaw value.
float r_hip_yaw_pitch() const
Get r_hip_yaw_pitch value.
void set_l_elbow_roll(const float new_l_elbow_roll)
Set l_elbow_roll value.
void set_r_elbow_yaw(const float new_r_elbow_yaw)
Set r_elbow_yaw value.
void set_l_wrist_yaw(const float new_l_wrist_yaw)
Set l_wrist_yaw value.
void set_l_hip_pitch(const float new_l_hip_pitch)
Set l_hip_pitch value.
float r_ankle_pitch() const
Get r_ankle_pitch value.
float r_shoulder_pitch() const
Get r_shoulder_pitch value.
float l_knee_pitch() const
Get l_knee_pitch value.
size_t maxlenof_head_pitch() const
Get maximum length of head_pitch value.
size_t maxlenof_r_hip_yaw_pitch() const
Get maximum length of r_hip_yaw_pitch value.
size_t maxlenof_r_elbow_roll() const
Get maximum length of r_elbow_roll value.
void set_l_hand(const float new_l_hand)
Set l_hand value.
size_t maxlenof_l_knee_pitch() const
Get maximum length of l_knee_pitch value.
size_t maxlenof_l_hip_yaw_pitch() const
Get maximum length of l_hip_yaw_pitch value.
size_t maxlenof_l_hip_roll() const
Get maximum length of l_hip_roll value.
void set_r_shoulder_roll(const float new_r_shoulder_roll)
Set r_shoulder_roll value.
size_t maxlenof_r_hip_roll() const
Get maximum length of r_hip_roll value.
void set_r_knee_pitch(const float new_r_knee_pitch)
Set r_knee_pitch value.
virtual void copy_values(const Interface *other)
Copy values from other interface.
void set_r_elbow_roll(const float new_r_elbow_roll)
Set r_elbow_roll value.
size_t maxlenof_r_shoulder_pitch() const
Get maximum length of r_shoulder_pitch value.
void set_head_yaw(const float new_head_yaw)
Set head_yaw value.
size_t maxlenof_r_hand() const
Get maximum length of r_hand 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.
Fawkes library namespace.