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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 
31 namespace 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  */
80  } RobotType;
81  const char * tostring_RobotType(RobotType value) const;
82 
83  private:
84 #pragma pack(push,4)
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  int32_t robot_type; /**< Robot type. */
90  uint8_t robot_version[4]; /**<
91  Robot version. Fields are in ascending array index major, minor, micro and
92  patch level. Currently only the first two are used by Aldebaran, but due to
93  struct alignment we add two extra bytes.
94  */
95  float head_yaw; /**< Head yaw */
96  float head_pitch; /**< Head pitch */
97  float l_shoulder_pitch; /**< Left shoulder pitch */
98  float l_shoulder_roll; /**< Left shoulder roll */
99  float l_elbow_yaw; /**< Left elbow yaw */
100  float l_elbow_roll; /**< Left elbow roll */
101  float l_wrist_yaw; /**< Left wrist yaw */
102  float l_hand; /**< Left hand */
103  float l_hip_yaw_pitch; /**< Left hip yaw pitch */
104  float l_hip_roll; /**< Left hip roll */
105  float l_hip_pitch; /**< Left hip pitch */
106  float l_knee_pitch; /**< Left knee pitch */
107  float l_ankle_pitch; /**< Left ankle pitch */
108  float l_ankle_roll; /**< Left ankle roll */
109  float r_shoulder_pitch; /**< Right shoulder pitch */
110  float r_shoulder_roll; /**< Right shoulder roll */
111  float r_elbow_yaw; /**< Right elbow yaw */
112  float r_elbow_roll; /**< Right elbow roll */
113  float r_wrist_yaw; /**< Right wrist yaw */
114  float r_hand; /**< Right hand */
115  float r_hip_yaw_pitch; /**< Right hip yaw pitch */
116  float r_hip_roll; /**< Right hip roll */
117  float r_hip_pitch; /**< Right hip pitch */
118  float r_knee_pitch; /**< Right knee pitch */
119  float r_ankle_pitch; /**< Right ankle pitch */
120  float r_ankle_roll; /**< Right ankle roll */
121  int32_t time; /**<
122  Current reference time in ms. For real hardware this is the DCM time.
123  Times in messages are always offsets to the current time and the current
124  time is added before executing the command.
125  */
126  } NaoJointPositionInterface_data_t;
127 #pragma pack(pop)
128 
129  NaoJointPositionInterface_data_t *data;
130 
131  public:
132  /* messages */
133  class SetServoMessage : public Message
134  {
135  private:
136 #pragma pack(push,4)
137  /** Internal data storage, do NOT modify! */
138  typedef struct {
139  int64_t timestamp_sec; /**< Interface Unix timestamp, seconds */
140  int64_t timestamp_usec; /**< Interface Unix timestamp, micro-seconds */
141  uint32_t servo; /**< A concatenated list of SERVO_* constants to
142  define the servos that should execute the movement. The list shall consist of
143  binary or'ed SERVO_* constants. */
144  float value; /**< Servo value to set for servos. */
145  int32_t time; /**<
146  Current reference time in ms. For real hardware this is the DCM time.
147  Times in messages are always offsets to the current time and the current
148  time is added before executing the command.
149  */
150  } SetServoMessage_data_t;
151 #pragma pack(pop)
152 
153  SetServoMessage_data_t *data;
154 
155  public:
156  SetServoMessage(const uint32_t ini_servo, const float ini_value, const int32_t ini_time);
157  SetServoMessage();
159 
161  /* Methods */
162  uint32_t servo() const;
163  void set_servo(const uint32_t new_servo);
164  size_t maxlenof_servo() const;
165  float value() const;
166  void set_value(const float new_value);
167  size_t maxlenof_value() const;
168  int32_t time() const;
169  void set_time(const int32_t new_time);
170  size_t maxlenof_time() const;
171  virtual Message * clone() const;
172  };
173 
174  class SetServosMessage : public Message
175  {
176  private:
177 #pragma pack(push,4)
178  /** Internal data storage, do NOT modify! */
179  typedef struct {
180  int64_t timestamp_sec; /**< Interface Unix timestamp, seconds */
181  int64_t timestamp_usec; /**< Interface Unix timestamp, micro-seconds */
182  float head_yaw; /**< Head yaw */
183  float head_pitch; /**< Head pitch */
184  float l_shoulder_pitch; /**< Left shoulder pitch */
185  float l_shoulder_roll; /**< Left shoulder roll */
186  float l_elbow_yaw; /**< Left elbow yaw */
187  float l_elbow_roll; /**< Left elbow roll */
188  float l_hip_yaw_pitch; /**< Left hip yaw pitch */
189  float l_hip_roll; /**< Left hip roll */
190  float l_hip_pitch; /**< Left hip pitch */
191  float l_knee_pitch; /**< Left knee pitch */
192  float l_ankle_pitch; /**< Left ankle pitch */
193  float l_ankle_roll; /**< Left ankle roll */
194  float l_wrist_yaw; /**< Left wrist yaw */
195  float l_hand; /**< Left hand */
196  float r_shoulder_pitch; /**< Right shoulder pitch */
197  float r_shoulder_roll; /**< Right shoulder roll */
198  float r_elbow_yaw; /**< Right elbow yaw */
199  float r_elbow_roll; /**< Right elbow roll */
200  float r_wrist_yaw; /**< Right wrist yaw */
201  float r_hand; /**< Right hand */
202  float r_hip_yaw_pitch; /**< Right hip yaw pitch */
203  float r_hip_roll; /**< Right hip roll */
204  float r_hip_pitch; /**< Right hip pitch */
205  float r_knee_pitch; /**< Right knee pitch */
206  float r_ankle_pitch; /**< Right ankle pitch */
207  float r_ankle_roll; /**< Right ankle roll */
208  int32_t time; /**<
209  Current reference time in ms. For real hardware this is the DCM time.
210  Times in messages are always offsets to the current time and the current
211  time is added before executing the command.
212  */
213  } SetServosMessage_data_t;
214 #pragma pack(pop)
215 
216  SetServosMessage_data_t *data;
217 
218  public:
219  SetServosMessage(const float ini_head_yaw, const float ini_head_pitch, const float ini_l_shoulder_pitch, const float ini_l_shoulder_roll, const float ini_l_elbow_yaw, const float ini_l_elbow_roll, const float ini_l_hip_yaw_pitch, const float ini_l_hip_roll, const float ini_l_hip_pitch, const float ini_l_knee_pitch, const float ini_l_ankle_pitch, const float ini_l_ankle_roll, const float ini_l_wrist_yaw, const float ini_l_hand, const float ini_r_shoulder_pitch, const float ini_r_shoulder_roll, const float ini_r_elbow_yaw, const float ini_r_elbow_roll, const float ini_r_wrist_yaw, const float ini_r_hand, const float ini_r_hip_yaw_pitch, const float ini_r_hip_roll, const float ini_r_hip_pitch, const float ini_r_knee_pitch, const float ini_r_ankle_pitch, const float ini_r_ankle_roll, const int32_t ini_time);
222 
224  /* Methods */
225  float head_yaw() const;
226  void set_head_yaw(const float new_head_yaw);
227  size_t maxlenof_head_yaw() const;
228  float head_pitch() const;
229  void set_head_pitch(const float new_head_pitch);
230  size_t maxlenof_head_pitch() const;
231  float l_shoulder_pitch() const;
232  void set_l_shoulder_pitch(const float new_l_shoulder_pitch);
233  size_t maxlenof_l_shoulder_pitch() const;
234  float l_shoulder_roll() const;
235  void set_l_shoulder_roll(const float new_l_shoulder_roll);
236  size_t maxlenof_l_shoulder_roll() const;
237  float l_elbow_yaw() const;
238  void set_l_elbow_yaw(const float new_l_elbow_yaw);
239  size_t maxlenof_l_elbow_yaw() const;
240  float l_elbow_roll() const;
241  void set_l_elbow_roll(const float new_l_elbow_roll);
242  size_t maxlenof_l_elbow_roll() const;
243  float l_hip_yaw_pitch() const;
244  void set_l_hip_yaw_pitch(const float new_l_hip_yaw_pitch);
245  size_t maxlenof_l_hip_yaw_pitch() const;
246  float l_hip_roll() const;
247  void set_l_hip_roll(const float new_l_hip_roll);
248  size_t maxlenof_l_hip_roll() const;
249  float l_hip_pitch() const;
250  void set_l_hip_pitch(const float new_l_hip_pitch);
251  size_t maxlenof_l_hip_pitch() const;
252  float l_knee_pitch() const;
253  void set_l_knee_pitch(const float new_l_knee_pitch);
254  size_t maxlenof_l_knee_pitch() const;
255  float l_ankle_pitch() const;
256  void set_l_ankle_pitch(const float new_l_ankle_pitch);
257  size_t maxlenof_l_ankle_pitch() const;
258  float l_ankle_roll() const;
259  void set_l_ankle_roll(const float new_l_ankle_roll);
260  size_t maxlenof_l_ankle_roll() const;
261  float l_wrist_yaw() const;
262  void set_l_wrist_yaw(const float new_l_wrist_yaw);
263  size_t maxlenof_l_wrist_yaw() const;
264  float l_hand() const;
265  void set_l_hand(const float new_l_hand);
266  size_t maxlenof_l_hand() const;
267  float r_shoulder_pitch() const;
268  void set_r_shoulder_pitch(const float new_r_shoulder_pitch);
269  size_t maxlenof_r_shoulder_pitch() const;
270  float r_shoulder_roll() const;
271  void set_r_shoulder_roll(const float new_r_shoulder_roll);
272  size_t maxlenof_r_shoulder_roll() const;
273  float r_elbow_yaw() const;
274  void set_r_elbow_yaw(const float new_r_elbow_yaw);
275  size_t maxlenof_r_elbow_yaw() const;
276  float r_elbow_roll() const;
277  void set_r_elbow_roll(const float new_r_elbow_roll);
278  size_t maxlenof_r_elbow_roll() const;
279  float r_wrist_yaw() const;
280  void set_r_wrist_yaw(const float new_r_wrist_yaw);
281  size_t maxlenof_r_wrist_yaw() const;
282  float r_hand() const;
283  void set_r_hand(const float new_r_hand);
284  size_t maxlenof_r_hand() const;
285  float r_hip_yaw_pitch() const;
286  void set_r_hip_yaw_pitch(const float new_r_hip_yaw_pitch);
287  size_t maxlenof_r_hip_yaw_pitch() const;
288  float r_hip_roll() const;
289  void set_r_hip_roll(const float new_r_hip_roll);
290  size_t maxlenof_r_hip_roll() const;
291  float r_hip_pitch() const;
292  void set_r_hip_pitch(const float new_r_hip_pitch);
293  size_t maxlenof_r_hip_pitch() const;
294  float r_knee_pitch() const;
295  void set_r_knee_pitch(const float new_r_knee_pitch);
296  size_t maxlenof_r_knee_pitch() const;
297  float r_ankle_pitch() const;
298  void set_r_ankle_pitch(const float new_r_ankle_pitch);
299  size_t maxlenof_r_ankle_pitch() const;
300  float r_ankle_roll() const;
301  void set_r_ankle_roll(const float new_r_ankle_roll);
302  size_t maxlenof_r_ankle_roll() const;
303  int32_t time() const;
304  void set_time(const int32_t new_time);
305  size_t maxlenof_time() const;
306  virtual Message * clone() const;
307  };
308 
309  class MoveServoMessage : public Message
310  {
311  private:
312 #pragma pack(push,4)
313  /** Internal data storage, do NOT modify! */
314  typedef struct {
315  int64_t timestamp_sec; /**< Interface Unix timestamp, seconds */
316  int64_t timestamp_usec; /**< Interface Unix timestamp, micro-seconds */
317  uint32_t servo; /**<
318  A concatenated list of SERVO_* constants to define the servos
319  that should execute the movement. The list shall consist of
320  binary or'ed SERVO_* constants.
321  */
322  float value; /**< Servo value to set for servos. */
323  float speed; /**<
324  Fraction of max speed in range [0.0..1.0].
325  */
326  } MoveServoMessage_data_t;
327 #pragma pack(pop)
328 
329  MoveServoMessage_data_t *data;
330 
331  public:
332  MoveServoMessage(const uint32_t ini_servo, const float ini_value, const float ini_speed);
335 
337  /* Methods */
338  uint32_t servo() const;
339  void set_servo(const uint32_t new_servo);
340  size_t maxlenof_servo() const;
341  float value() const;
342  void set_value(const float new_value);
343  size_t maxlenof_value() const;
344  float speed() const;
345  void set_speed(const float new_speed);
346  size_t maxlenof_speed() const;
347  virtual Message * clone() const;
348  };
349 
350  class MoveServosMessage : public Message
351  {
352  private:
353 #pragma pack(push,4)
354  /** Internal data storage, do NOT modify! */
355  typedef struct {
356  int64_t timestamp_sec; /**< Interface Unix timestamp, seconds */
357  int64_t timestamp_usec; /**< Interface Unix timestamp, micro-seconds */
358  float speed; /**<
359  Fraction of max speed in range [0.0..1.0].
360  */
361  float head_yaw; /**< Head yaw */
362  float head_pitch; /**< Head pitch */
363  float l_shoulder_pitch; /**< Left shoulder pitch */
364  float l_shoulder_roll; /**< Left shoulder roll */
365  float l_elbow_yaw; /**< Left elbow yaw */
366  float l_elbow_roll; /**< Left elbow roll */
367  float l_wrist_yaw; /**< Left wrist yaw */
368  float l_hand; /**< Left hand */
369  float l_hip_yaw_pitch; /**< Left hip yaw pitch */
370  float l_hip_roll; /**< Left hip roll */
371  float l_hip_pitch; /**< Left hip pitch */
372  float l_knee_pitch; /**< Left knee pitch */
373  float l_ankle_pitch; /**< Left ankle pitch */
374  float l_ankle_roll; /**< Left ankle roll */
375  float r_shoulder_pitch; /**< Right shoulder pitch */
376  float r_shoulder_roll; /**< Right shoulder roll */
377  float r_elbow_yaw; /**< Right elbow yaw */
378  float r_elbow_roll; /**< Right elbow roll */
379  float r_wrist_yaw; /**< Right wrist yaw */
380  float r_hand; /**< Right hand */
381  float r_hip_yaw_pitch; /**< Right hip yaw pitch */
382  float r_hip_roll; /**< Right hip roll */
383  float r_hip_pitch; /**< Right hip pitch */
384  float r_knee_pitch; /**< Right knee pitch */
385  float r_ankle_pitch; /**< Right ankle pitch */
386  float r_ankle_roll; /**< Right ankle roll */
387  } MoveServosMessage_data_t;
388 #pragma pack(pop)
389 
390  MoveServosMessage_data_t *data;
391 
392  public:
393  MoveServosMessage(const float ini_speed, const float ini_head_yaw, const float ini_head_pitch, const float ini_l_shoulder_pitch, const float ini_l_shoulder_roll, const float ini_l_elbow_yaw, const float ini_l_elbow_roll, const float ini_l_wrist_yaw, const float ini_l_hand, const float ini_l_hip_yaw_pitch, const float ini_l_hip_roll, const float ini_l_hip_pitch, const float ini_l_knee_pitch, const float ini_l_ankle_pitch, const float ini_l_ankle_roll, const float ini_r_shoulder_pitch, const float ini_r_shoulder_roll, const float ini_r_elbow_yaw, const float ini_r_elbow_roll, const float ini_r_wrist_yaw, const float ini_r_hand, const float ini_r_hip_yaw_pitch, const float ini_r_hip_roll, const float ini_r_hip_pitch, const float ini_r_knee_pitch, const float ini_r_ankle_pitch, const float ini_r_ankle_roll);
396 
398  /* Methods */
399  float speed() const;
400  void set_speed(const float new_speed);
401  size_t maxlenof_speed() const;
402  float head_yaw() const;
403  void set_head_yaw(const float new_head_yaw);
404  size_t maxlenof_head_yaw() const;
405  float head_pitch() const;
406  void set_head_pitch(const float new_head_pitch);
407  size_t maxlenof_head_pitch() const;
408  float l_shoulder_pitch() const;
409  void set_l_shoulder_pitch(const float new_l_shoulder_pitch);
410  size_t maxlenof_l_shoulder_pitch() const;
411  float l_shoulder_roll() const;
412  void set_l_shoulder_roll(const float new_l_shoulder_roll);
413  size_t maxlenof_l_shoulder_roll() const;
414  float l_elbow_yaw() const;
415  void set_l_elbow_yaw(const float new_l_elbow_yaw);
416  size_t maxlenof_l_elbow_yaw() const;
417  float l_elbow_roll() const;
418  void set_l_elbow_roll(const float new_l_elbow_roll);
419  size_t maxlenof_l_elbow_roll() const;
420  float l_wrist_yaw() const;
421  void set_l_wrist_yaw(const float new_l_wrist_yaw);
422  size_t maxlenof_l_wrist_yaw() const;
423  float l_hand() const;
424  void set_l_hand(const float new_l_hand);
425  size_t maxlenof_l_hand() const;
426  float l_hip_yaw_pitch() const;
427  void set_l_hip_yaw_pitch(const float new_l_hip_yaw_pitch);
428  size_t maxlenof_l_hip_yaw_pitch() const;
429  float l_hip_roll() const;
430  void set_l_hip_roll(const float new_l_hip_roll);
431  size_t maxlenof_l_hip_roll() const;
432  float l_hip_pitch() const;
433  void set_l_hip_pitch(const float new_l_hip_pitch);
434  size_t maxlenof_l_hip_pitch() const;
435  float l_knee_pitch() const;
436  void set_l_knee_pitch(const float new_l_knee_pitch);
437  size_t maxlenof_l_knee_pitch() const;
438  float l_ankle_pitch() const;
439  void set_l_ankle_pitch(const float new_l_ankle_pitch);
440  size_t maxlenof_l_ankle_pitch() const;
441  float l_ankle_roll() const;
442  void set_l_ankle_roll(const float new_l_ankle_roll);
443  size_t maxlenof_l_ankle_roll() const;
444  float r_shoulder_pitch() const;
445  void set_r_shoulder_pitch(const float new_r_shoulder_pitch);
446  size_t maxlenof_r_shoulder_pitch() const;
447  float r_shoulder_roll() const;
448  void set_r_shoulder_roll(const float new_r_shoulder_roll);
449  size_t maxlenof_r_shoulder_roll() const;
450  float r_elbow_yaw() const;
451  void set_r_elbow_yaw(const float new_r_elbow_yaw);
452  size_t maxlenof_r_elbow_yaw() const;
453  float r_elbow_roll() const;
454  void set_r_elbow_roll(const float new_r_elbow_roll);
455  size_t maxlenof_r_elbow_roll() const;
456  float r_wrist_yaw() const;
457  void set_r_wrist_yaw(const float new_r_wrist_yaw);
458  size_t maxlenof_r_wrist_yaw() const;
459  float r_hand() const;
460  void set_r_hand(const float new_r_hand);
461  size_t maxlenof_r_hand() const;
462  float r_hip_yaw_pitch() const;
463  void set_r_hip_yaw_pitch(const float new_r_hip_yaw_pitch);
464  size_t maxlenof_r_hip_yaw_pitch() const;
465  float r_hip_roll() const;
466  void set_r_hip_roll(const float new_r_hip_roll);
467  size_t maxlenof_r_hip_roll() const;
468  float r_hip_pitch() const;
469  void set_r_hip_pitch(const float new_r_hip_pitch);
470  size_t maxlenof_r_hip_pitch() const;
471  float r_knee_pitch() const;
472  void set_r_knee_pitch(const float new_r_knee_pitch);
473  size_t maxlenof_r_knee_pitch() const;
474  float r_ankle_pitch() const;
475  void set_r_ankle_pitch(const float new_r_ankle_pitch);
476  size_t maxlenof_r_ankle_pitch() const;
477  float r_ankle_roll() const;
478  void set_r_ankle_roll(const float new_r_ankle_roll);
479  size_t maxlenof_r_ankle_roll() const;
480  virtual Message * clone() const;
481  };
482 
483  virtual bool message_valid(const Message *message) const;
484  private:
487 
488  public:
489  /* Methods */
490  RobotType robot_type() const;
491  void set_robot_type(const RobotType new_robot_type);
492  size_t maxlenof_robot_type() const;
493  uint8_t * robot_version() const;
494  uint8_t robot_version(unsigned int index) const;
495  void set_robot_version(unsigned int index, const uint8_t new_robot_version);
496  void set_robot_version(const uint8_t * new_robot_version);
497  size_t maxlenof_robot_version() const;
498  float head_yaw() const;
499  void set_head_yaw(const float new_head_yaw);
500  size_t maxlenof_head_yaw() const;
501  float head_pitch() const;
502  void set_head_pitch(const float new_head_pitch);
503  size_t maxlenof_head_pitch() const;
504  float l_shoulder_pitch() const;
505  void set_l_shoulder_pitch(const float new_l_shoulder_pitch);
506  size_t maxlenof_l_shoulder_pitch() const;
507  float l_shoulder_roll() const;
508  void set_l_shoulder_roll(const float new_l_shoulder_roll);
509  size_t maxlenof_l_shoulder_roll() const;
510  float l_elbow_yaw() const;
511  void set_l_elbow_yaw(const float new_l_elbow_yaw);
512  size_t maxlenof_l_elbow_yaw() const;
513  float l_elbow_roll() const;
514  void set_l_elbow_roll(const float new_l_elbow_roll);
515  size_t maxlenof_l_elbow_roll() const;
516  float l_wrist_yaw() const;
517  void set_l_wrist_yaw(const float new_l_wrist_yaw);
518  size_t maxlenof_l_wrist_yaw() const;
519  float l_hand() const;
520  void set_l_hand(const float new_l_hand);
521  size_t maxlenof_l_hand() const;
522  float l_hip_yaw_pitch() const;
523  void set_l_hip_yaw_pitch(const float new_l_hip_yaw_pitch);
524  size_t maxlenof_l_hip_yaw_pitch() const;
525  float l_hip_roll() const;
526  void set_l_hip_roll(const float new_l_hip_roll);
527  size_t maxlenof_l_hip_roll() const;
528  float l_hip_pitch() const;
529  void set_l_hip_pitch(const float new_l_hip_pitch);
530  size_t maxlenof_l_hip_pitch() const;
531  float l_knee_pitch() const;
532  void set_l_knee_pitch(const float new_l_knee_pitch);
533  size_t maxlenof_l_knee_pitch() const;
534  float l_ankle_pitch() const;
535  void set_l_ankle_pitch(const float new_l_ankle_pitch);
536  size_t maxlenof_l_ankle_pitch() const;
537  float l_ankle_roll() const;
538  void set_l_ankle_roll(const float new_l_ankle_roll);
539  size_t maxlenof_l_ankle_roll() const;
540  float r_shoulder_pitch() const;
541  void set_r_shoulder_pitch(const float new_r_shoulder_pitch);
542  size_t maxlenof_r_shoulder_pitch() const;
543  float r_shoulder_roll() const;
544  void set_r_shoulder_roll(const float new_r_shoulder_roll);
545  size_t maxlenof_r_shoulder_roll() const;
546  float r_elbow_yaw() const;
547  void set_r_elbow_yaw(const float new_r_elbow_yaw);
548  size_t maxlenof_r_elbow_yaw() const;
549  float r_elbow_roll() const;
550  void set_r_elbow_roll(const float new_r_elbow_roll);
551  size_t maxlenof_r_elbow_roll() const;
552  float r_wrist_yaw() const;
553  void set_r_wrist_yaw(const float new_r_wrist_yaw);
554  size_t maxlenof_r_wrist_yaw() const;
555  float r_hand() const;
556  void set_r_hand(const float new_r_hand);
557  size_t maxlenof_r_hand() const;
558  float r_hip_yaw_pitch() const;
559  void set_r_hip_yaw_pitch(const float new_r_hip_yaw_pitch);
560  size_t maxlenof_r_hip_yaw_pitch() const;
561  float r_hip_roll() const;
562  void set_r_hip_roll(const float new_r_hip_roll);
563  size_t maxlenof_r_hip_roll() const;
564  float r_hip_pitch() const;
565  void set_r_hip_pitch(const float new_r_hip_pitch);
566  size_t maxlenof_r_hip_pitch() const;
567  float r_knee_pitch() const;
568  void set_r_knee_pitch(const float new_r_knee_pitch);
569  size_t maxlenof_r_knee_pitch() const;
570  float r_ankle_pitch() const;
571  void set_r_ankle_pitch(const float new_r_ankle_pitch);
572  size_t maxlenof_r_ankle_pitch() const;
573  float r_ankle_roll() const;
574  void set_r_ankle_roll(const float new_r_ankle_roll);
575  size_t maxlenof_r_ankle_roll() const;
576  int32_t time() const;
577  void set_time(const int32_t new_time);
578  size_t maxlenof_time() const;
579  virtual Message * create_message(const char *type) const;
580 
581  virtual void copy_values(const Interface *other);
582  virtual const char * enum_tostring(const char *enumtype, int val) const;
583 
584 };
585 
586 } // end namespace fawkes
587 
588 #endif
static const uint32_t SERVO_l_shoulder_roll
SERVO_l_shoulder_roll constant.
void set_robot_version(unsigned int index, const uint8_t new_robot_version)
Set robot_version value at given index.
size_t maxlenof_head_pitch() const
Get maximum length of head_pitch value.
size_t maxlenof_l_hip_yaw_pitch() const
Get maximum length of l_hip_yaw_pitch value.
float r_hand() const
Get r_hand value.
void set_r_wrist_yaw(const float new_r_wrist_yaw)
Set r_wrist_yaw value.
float l_hip_yaw_pitch() const
Get l_hip_yaw_pitch value.
size_t maxlenof_r_hip_roll() const
Get maximum length of r_hip_roll value.
size_t maxlenof_l_hand() const
Get maximum length of l_hand value.
void set_r_hip_pitch(const float new_r_hip_pitch)
Set r_hip_pitch value.
NaoJointPositionInterface Fawkes BlackBoard Interface.
size_t maxlenof_r_elbow_roll() const
Get maximum length of r_elbow_roll value.
void set_head_pitch(const float new_head_pitch)
Set head_pitch value.
static const uint32_t SERVO_l_ankle_roll
SERVO_l_ankle_roll constant.
size_t maxlenof_l_shoulder_pitch() const
Get maximum length of l_shoulder_pitch value.
void set_l_ankle_roll(const float new_l_ankle_roll)
Set l_ankle_roll value.
SetServoMessage Fawkes BlackBoard Interface Message.
void set_l_hip_roll(const float new_l_hip_roll)
Set l_hip_roll value.
size_t maxlenof_time() const
Get maximum length of time value.
void set_l_hip_yaw_pitch(const float new_l_hip_yaw_pitch)
Set l_hip_yaw_pitch value.
static const uint32_t SERVO_min
SERVO_min constant.
size_t maxlenof_r_ankle_pitch() const
Get maximum length of r_ankle_pitch value.
float r_hip_yaw_pitch() const
Get r_hip_yaw_pitch value.
void set_r_elbow_yaw(const float new_r_elbow_yaw)
Set r_elbow_yaw value.
virtual bool message_valid(const Message *message) const
Check if message is valid and can be enqueued.
Base class for all messages passed through interfaces in Fawkes BlackBoard.
Definition: message.h:43
size_t maxlenof_r_hip_yaw_pitch() const
Get maximum length of r_hip_yaw_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_pitch(const float new_r_shoulder_pitch)
Set r_shoulder_pitch value.
float r_hip_yaw_pitch() const
Get r_hip_yaw_pitch value.
size_t maxlenof_l_hip_yaw_pitch() const
Get maximum length of l_hip_yaw_pitch value.
float l_hand() const
Get l_hand value.
size_t maxlenof_r_knee_pitch() const
Get maximum length of r_knee_pitch value.
float l_knee_pitch() const
Get l_knee_pitch value.
float r_shoulder_pitch() const
Get r_shoulder_pitch value.
void set_l_shoulder_roll(const float new_l_shoulder_roll)
Set l_shoulder_roll value.
static const uint32_t SERVO_l_hip_yaw_pitch
SERVO_l_hip_yaw_pitch constant.
float r_wrist_yaw() const
Get r_wrist_yaw value.
SetServosMessage Fawkes BlackBoard Interface Message.
void set_l_hip_pitch(const float new_l_hip_pitch)
Set l_hip_pitch value.
float l_shoulder_pitch() const
Get l_shoulder_pitch value.
float head_yaw() const
Get head_yaw value.
void set_servo(const uint32_t new_servo)
Set servo value.
float r_knee_pitch() const
Get r_knee_pitch value.
static const uint32_t SERVO_r_hip_roll
SERVO_r_hip_roll constant.
void set_l_ankle_pitch(const float new_l_ankle_pitch)
Set l_ankle_pitch value.
void set_l_elbow_yaw(const float new_l_elbow_yaw)
Set l_elbow_yaw value.
void set_l_elbow_roll(const float new_l_elbow_roll)
Set l_elbow_roll value.
void set_l_knee_pitch(const float new_l_knee_pitch)
Set l_knee_pitch value.
void set_value(const float new_value)
Set value value.
size_t maxlenof_l_hand() const
Get maximum length of l_hand value.
static const uint32_t SERVO_max
SERVO_max constant.
size_t maxlenof_l_hip_roll() const
Get maximum length of l_hip_roll value.
void set_speed(const float new_speed)
Set speed value.
size_t maxlenof_r_knee_pitch() const
Get maximum length of r_knee_pitch value.
void set_r_knee_pitch(const float new_r_knee_pitch)
Set r_knee_pitch 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(const int32_t new_time)
Set time value.
static const uint32_t SERVO_l_wrist_yaw
SERVO_l_wrist_yaw constant.
void set_r_hip_yaw_pitch(const float new_r_hip_yaw_pitch)
Set r_hip_yaw_pitch value.
void set_l_elbow_yaw(const float new_l_elbow_yaw)
Set l_elbow_yaw 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.
size_t maxlenof_l_elbow_roll() const
Get maximum length of l_elbow_roll value.
size_t maxlenof_r_elbow_yaw() const
Get maximum length of r_elbow_yaw value.
size_t maxlenof_r_wrist_yaw() const
Get maximum length of r_wrist_yaw value.
size_t maxlenof_l_elbow_yaw() const
Get maximum length of l_elbow_yaw value.
size_t maxlenof_l_hip_roll() const
Get maximum length of l_hip_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_r_ankle_roll(const float new_r_ankle_roll)
Set r_ankle_roll value.
void set_r_ankle_roll(const float new_r_ankle_roll)
Set r_ankle_roll value.
MoveServosMessage Fawkes BlackBoard Interface Message.
size_t maxlenof_l_shoulder_pitch() const
Get maximum length of l_shoulder_pitch value.
void set_r_elbow_roll(const float new_r_elbow_roll)
Set r_elbow_roll value.
float r_ankle_roll() const
Get r_ankle_roll value.
void set_l_ankle_roll(const float new_l_ankle_roll)
Set l_ankle_roll value.
size_t maxlenof_l_elbow_roll() const
Get maximum length of l_elbow_roll value.
size_t maxlenof_l_shoulder_pitch() const
Get maximum length of l_shoulder_pitch 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.
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.
void set_l_wrist_yaw(const float new_l_wrist_yaw)
Set l_wrist_yaw value.
size_t maxlenof_servo() const
Get maximum length of servo value.
void set_r_elbow_yaw(const float new_r_elbow_yaw)
Set r_elbow_yaw value.
size_t maxlenof_value() const
Get maximum length of value value.
const char * tostring_RobotType(RobotType value) const
Convert RobotType constant to string.
void set_r_shoulder_pitch(const float new_r_shoulder_pitch)
Set r_shoulder_pitch value.
static const uint32_t SERVO_l_elbow_yaw
SERVO_l_elbow_yaw constant.
float r_shoulder_roll() const
Get r_shoulder_roll value.
void set_head_pitch(const float new_head_pitch)
Set head_pitch value.
size_t maxlenof_l_ankle_roll() const
Get maximum length of l_ankle_roll 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.
Base class for all Fawkes BlackBoard interfaces.
Definition: interface.h:80
float l_hip_pitch() const
Get l_hip_pitch value.
size_t maxlenof_l_elbow_yaw() const
Get maximum length of l_elbow_yaw value.
void set_l_hand(const float new_l_hand)
Set l_hand value.
void set_l_wrist_yaw(const float new_l_wrist_yaw)
Set l_wrist_yaw value.
size_t maxlenof_r_shoulder_roll() const
Get maximum length of r_shoulder_roll value.
float r_elbow_roll() const
Get r_elbow_roll value.
size_t maxlenof_l_knee_pitch() const
Get maximum length of l_knee_pitch value.
size_t maxlenof_r_elbow_yaw() const
Get maximum length of r_elbow_yaw value.
size_t maxlenof_r_ankle_roll() const
Get maximum length of r_ankle_roll value.
RobotType robot_type() const
Get robot_type value.
void set_r_elbow_roll(const float new_r_elbow_roll)
Set r_elbow_roll value.
void set_value(const float new_value)
Set value value.
float l_shoulder_pitch() const
Get l_shoulder_pitch value.
Academic version with 25 DoF and touch sensors.
float l_elbow_roll() const
Get l_elbow_roll value.
float r_hip_pitch() const
Get r_hip_pitch value.
float l_shoulder_roll() const
Get l_shoulder_roll value.
static const uint32_t SERVO_l_ankle_pitch
SERVO_l_ankle_pitch constant.
size_t maxlenof_robot_version() const
Get maximum length of robot_version 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_r_hip_yaw_pitch() const
Get maximum length of r_hip_yaw_pitch value.
static const uint32_t SERVO_l_shoulder_pitch
SERVO_l_shoulder_pitch constant.
void set_l_ankle_pitch(const float new_l_ankle_pitch)
Set l_ankle_pitch value.
void set_l_hip_yaw_pitch(const float new_l_hip_yaw_pitch)
Set l_hip_yaw_pitch value.
void set_l_hand(const float new_l_hand)
Set l_hand value.
void set_r_shoulder_roll(const float new_r_shoulder_roll)
Set r_shoulder_roll 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.
size_t maxlenof_r_wrist_yaw() const
Get maximum length of r_wrist_yaw value.
void set_l_elbow_roll(const float new_l_elbow_roll)
Set l_elbow_roll value.
static const uint32_t SERVO_l_knee_pitch
SERVO_l_knee_pitch constant.
size_t maxlenof_l_knee_pitch() const
Get maximum length of l_knee_pitch value.
void set_l_elbow_roll(const float new_l_elbow_roll)
Set l_elbow_roll value.
static const uint32_t SERVO_r_hand
SERVO_r_hand constant.
static const uint32_t SERVO_r_ankle_roll
SERVO_r_ankle_roll constant.
void set_r_elbow_yaw(const float new_r_elbow_yaw)
Set r_elbow_yaw value.
void set_r_hip_roll(const float new_r_hip_roll)
Set r_hip_roll value.
float l_ankle_pitch() const
Get l_ankle_pitch value.
void set_servo(const uint32_t new_servo)
Set servo value.
size_t maxlenof_l_hand() const
Get maximum length of l_hand value.
float r_hip_yaw_pitch() const
Get r_hip_yaw_pitch value.
float r_shoulder_pitch() const
Get r_shoulder_pitch value.
size_t maxlenof_l_ankle_roll() const
Get maximum length of l_ankle_roll value.
size_t maxlenof_r_shoulder_roll() const
Get maximum length of r_shoulder_roll value.
size_t maxlenof_l_ankle_pitch() const
Get maximum length of l_ankle_pitch value.
size_t maxlenof_servo() const
Get maximum length of servo value.
void set_head_yaw(const float new_head_yaw)
Set head_yaw value.
void set_l_shoulder_roll(const float new_l_shoulder_roll)
Set l_shoulder_roll value.
virtual const char * enum_tostring(const char *enumtype, int val) const
Convert arbitrary enum value to string.
float l_hip_yaw_pitch() const
Get l_hip_yaw_pitch value.
void set_robot_type(const RobotType new_robot_type)
Set robot_type value.
void set_r_ankle_roll(const float new_r_ankle_roll)
Set r_ankle_roll value.
void set_r_ankle_pitch(const float new_r_ankle_pitch)
Set r_ankle_pitch value.
void set_head_pitch(const float new_head_pitch)
Set head_pitch value.
size_t maxlenof_r_hip_pitch() const
Get maximum length of r_hip_pitch value.
float r_shoulder_roll() const
Get r_shoulder_roll value.
size_t maxlenof_r_shoulder_pitch() const
Get maximum length of r_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_l_hip_pitch() const
Get maximum length of l_hip_pitch value.
size_t maxlenof_head_yaw() const
Get maximum length of head_yaw value.
float l_hip_roll() const
Get l_hip_roll value.
void set_l_shoulder_pitch(const float new_l_shoulder_pitch)
Set l_shoulder_pitch value.
size_t maxlenof_r_hand() const
Get maximum length of r_hand value.
size_t maxlenof_r_shoulder_roll() const
Get maximum length of r_shoulder_roll value.
size_t maxlenof_r_hip_pitch() const
Get maximum length of r_hip_pitch value.
void set_r_hip_pitch(const float new_r_hip_pitch)
Set r_hip_pitch value.
size_t maxlenof_l_shoulder_roll() const
Get maximum length of l_shoulder_roll value.
void set_r_ankle_pitch(const float new_r_ankle_pitch)
Set r_ankle_pitch value.
void set_l_hip_yaw_pitch(const float new_l_hip_yaw_pitch)
Set l_hip_yaw_pitch value.
static const uint32_t SERVO_r_ankle_pitch
SERVO_r_ankle_pitch constant.
void set_r_hip_roll(const float new_r_hip_roll)
Set r_hip_roll value.
static const uint32_t SERVO_r_elbow_yaw
SERVO_r_elbow_yaw constant.
size_t maxlenof_r_shoulder_pitch() const
Get maximum length of r_shoulder_pitch value.
size_t maxlenof_head_pitch() const
Get maximum length of head_pitch value.
static const uint32_t SERVO_l_elbow_roll
SERVO_l_elbow_roll constant.
float l_shoulder_pitch() const
Get l_shoulder_pitch value.
size_t maxlenof_head_yaw() const
Get maximum length of head_yaw value.
size_t maxlenof_r_elbow_roll() const
Get maximum length of r_elbow_roll value.
static const uint32_t SERVO_r_knee_pitch
SERVO_r_knee_pitch constant.
static const uint32_t SERVO_l_hand
SERVO_l_hand constant.
void set_r_hip_roll(const float new_r_hip_roll)
Set r_hip_roll value.
size_t maxlenof_r_hip_roll() const
Get maximum length of r_hip_roll value.
size_t maxlenof_r_hand() const
Get maximum length of r_hand value.
size_t maxlenof_l_hip_pitch() const
Get maximum length of l_hip_pitch value.
static const uint32_t SERVO_r_elbow_roll
SERVO_r_elbow_roll constant.
size_t maxlenof_r_wrist_yaw() const
Get maximum length of r_wrist_yaw value.
size_t maxlenof_r_ankle_pitch() const
Get maximum length of r_ankle_pitch value.
float head_pitch() const
Get head_pitch value.
virtual Message * clone() const
Clone this message.
void set_r_hip_yaw_pitch(const float new_r_hip_yaw_pitch)
Set r_hip_yaw_pitch value.
size_t maxlenof_l_ankle_pitch() const
Get maximum length of l_ankle_pitch value.
size_t maxlenof_r_hip_yaw_pitch() const
Get maximum length of r_hip_yaw_pitch value.
float r_hip_roll() const
Get r_hip_roll value.
static const uint32_t SERVO_r_shoulder_pitch
SERVO_r_shoulder_pitch constant.
static const uint32_t SERVO_head_pitch
SERVO_head_pitch constant.
size_t maxlenof_speed() const
Get maximum length of speed value.
virtual Message * clone() const
Clone this message.
size_t maxlenof_l_elbow_yaw() const
Get maximum length of l_elbow_yaw value.
size_t maxlenof_l_wrist_yaw() const
Get maximum length of l_wrist_yaw value.
void set_r_elbow_roll(const float new_r_elbow_roll)
Set r_elbow_roll value.
float l_shoulder_roll() const
Get l_shoulder_roll value.
void set_l_hip_roll(const float new_l_hip_roll)
Set l_hip_roll value.
void set_l_shoulder_pitch(const float new_l_shoulder_pitch)
Set l_shoulder_pitch value.
static const uint32_t SERVO_l_hip_pitch
SERVO_l_hip_pitch constant.
size_t maxlenof_head_pitch() const
Get maximum length of head_pitch value.
float r_shoulder_roll() const
Get r_shoulder_roll value.
virtual Message * clone() const
Clone this message.
void set_r_shoulder_pitch(const float new_r_shoulder_pitch)
Set r_shoulder_pitch value.
void set_r_knee_pitch(const float new_r_knee_pitch)
Set r_knee_pitch value.
size_t maxlenof_l_wrist_yaw() const
Get maximum length of l_wrist_yaw value.
void set_l_shoulder_pitch(const float new_l_shoulder_pitch)
Set l_shoulder_pitch value.
void set_r_knee_pitch(const float new_r_knee_pitch)
Set r_knee_pitch value.
size_t maxlenof_value() const
Get maximum length of value value.
void set_l_ankle_pitch(const float new_l_ankle_pitch)
Set l_ankle_pitch value.
float l_wrist_yaw() const
Get l_wrist_yaw value.
float l_elbow_yaw() const
Get l_elbow_yaw 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.
MoveServoMessage Fawkes BlackBoard Interface Message.
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.
void set_r_hand(const float new_r_hand)
Set r_hand value.
size_t maxlenof_l_ankle_pitch() const
Get maximum length of l_ankle_pitch value.
size_t maxlenof_r_shoulder_pitch() const
Get maximum length of r_shoulder_pitch value.
void set_l_elbow_yaw(const float new_l_elbow_yaw)
Set l_elbow_yaw value.
float l_shoulder_roll() const
Get l_shoulder_roll value.
void set_speed(const float new_speed)
Set speed value.
virtual Message * clone() const
Clone this message.
void set_r_shoulder_roll(const float new_r_shoulder_roll)
Set r_shoulder_roll value.
static const uint32_t SERVO_r_hip_pitch
SERVO_r_hip_pitch constant.
static const uint32_t SERVO_r_hip_yaw_pitch
SERVO_r_hip_yaw_pitch constant.
size_t maxlenof_l_hip_pitch() const
Get maximum length of l_hip_pitch value.
void set_r_hip_pitch(const float new_r_hip_pitch)
Set r_hip_pitch value.
size_t maxlenof_l_wrist_yaw() const
Get maximum length of l_wrist_yaw value.
size_t maxlenof_r_ankle_pitch() const
Get maximum length of r_ankle_pitch value.
size_t maxlenof_r_hip_roll() const
Get maximum length of r_hip_roll value.
static const uint32_t SERVO_r_wrist_yaw
SERVO_r_wrist_yaw constant.
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_r_hand() const
Get maximum length of r_hand value.
void set_l_hip_pitch(const float new_l_hip_pitch)
Set l_hip_pitch value.
void set_r_hand(const float new_r_hand)
Set r_hand value.
void set_l_knee_pitch(const float new_l_knee_pitch)
Set l_knee_pitch value.
void set_r_wrist_yaw(const float new_r_wrist_yaw)
Set r_wrist_yaw value.
virtual void copy_values(const Interface *other)
Copy values from other interface.
float r_ankle_pitch() const
Get r_ankle_pitch value.
float r_shoulder_pitch() const
Get r_shoulder_pitch value.
size_t maxlenof_l_shoulder_roll() const
Get maximum length of l_shoulder_roll value.
void set_time(const int32_t new_time)
Set time value.
static const uint32_t SERVO_head_yaw
SERVO_head_yaw constant.
void set_time(const int32_t new_time)
Set time value.
const char * type() const
Get type of interface.
Definition: interface.cpp:635
size_t maxlenof_speed() const
Get maximum length of speed value.
size_t maxlenof_head_yaw() const
Get maximum length of head_yaw value.
static const uint32_t SERVO_l_hip_roll
SERVO_l_hip_roll constant.
uint8_t * robot_version() const
Get robot_version value.
static const uint32_t SERVO_r_shoulder_roll
SERVO_r_shoulder_roll constant.
size_t maxlenof_time() const
Get maximum length of time value.
int32_t time() const
Get time value.
void set_r_hand(const float new_r_hand)
Set r_hand value.
void set_head_yaw(const float new_head_yaw)
Set head_yaw value.
size_t maxlenof_robot_type() const
Get maximum length of robot_type value.
RobotType
Enumeration describing the actual version of the robot that's being used.
size_t maxlenof_time() const
Get maximum length of time value.
float l_hip_yaw_pitch() const
Get l_hip_yaw_pitch value.
size_t maxlenof_l_ankle_roll() const
Get maximum length of l_ankle_roll value.