Fawkes API  Fawkes Development Version
NaoJointStiffnessInterface.cpp
1 
2 /***************************************************************************
3  * NaoJointStiffnessInterface.cpp - Fawkes BlackBoard Interface - NaoJointStiffnessInterface
4  *
5  * Templated created: Thu Oct 12 10:49:19 2006
6  * Copyright 2008-2011 Tim Niemueller
7  *
8  ****************************************************************************/
9 
10 /* This program is free software; you can redistribute it and/or modify
11  * it under the terms of the GNU General Public License as published by
12  * the Free Software Foundation; either version 2 of the License, or
13  * (at your option) any later version. A runtime exception applies to
14  * this software (see LICENSE.GPL_WRE file mentioned below for details).
15  *
16  * This program is distributed in the hope that it will be useful,
17  * but WITHOUT ANY WARRANTY; without even the implied warranty of
18  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
19  * GNU Library General Public License for more details.
20  *
21  * Read the full text in the LICENSE.GPL_WRE file in the doc directory.
22  */
23 
24 #include <interfaces/NaoJointStiffnessInterface.h>
25 
26 #include <core/exceptions/software.h>
27 
28 #include <cstring>
29 #include <cstdlib>
30 
31 namespace fawkes {
32 
33 /** @class NaoJointStiffnessInterface <interfaces/NaoJointStiffnessInterface.h>
34  * NaoJointStiffnessInterface Fawkes BlackBoard Interface.
35  *
36  This interface provides access to Nao joint stiffness.
37 
38  * @ingroup FawkesInterfaces
39  */
40 
41 
42 
43 /** Constructor */
44 NaoJointStiffnessInterface::NaoJointStiffnessInterface() : Interface()
45 {
46  data_size = sizeof(NaoJointStiffnessInterface_data_t);
47  data_ptr = malloc(data_size);
48  data = (NaoJointStiffnessInterface_data_t *)data_ptr;
49  data_ts = (interface_data_ts_t *)data_ptr;
50  memset(data_ptr, 0, data_size);
51  add_fieldinfo(IFT_FLOAT, "head_yaw", 1, &data->head_yaw, "");
52  add_fieldinfo(IFT_FLOAT, "head_pitch", 1, &data->head_pitch, "");
53  add_fieldinfo(IFT_FLOAT, "l_shoulder_pitch", 1, &data->l_shoulder_pitch, "");
54  add_fieldinfo(IFT_FLOAT, "l_shoulder_roll", 1, &data->l_shoulder_roll, "");
55  add_fieldinfo(IFT_FLOAT, "l_elbow_yaw", 1, &data->l_elbow_yaw, "");
56  add_fieldinfo(IFT_FLOAT, "l_elbow_roll", 1, &data->l_elbow_roll, "");
57  add_fieldinfo(IFT_FLOAT, "l_wrist_yaw", 1, &data->l_wrist_yaw, "");
58  add_fieldinfo(IFT_FLOAT, "l_hand", 1, &data->l_hand, "");
59  add_fieldinfo(IFT_FLOAT, "l_hip_yaw_pitch", 1, &data->l_hip_yaw_pitch, "");
60  add_fieldinfo(IFT_FLOAT, "l_hip_roll", 1, &data->l_hip_roll, "");
61  add_fieldinfo(IFT_FLOAT, "l_hip_pitch", 1, &data->l_hip_pitch, "");
62  add_fieldinfo(IFT_FLOAT, "l_knee_pitch", 1, &data->l_knee_pitch, "");
63  add_fieldinfo(IFT_FLOAT, "l_ankle_pitch", 1, &data->l_ankle_pitch, "");
64  add_fieldinfo(IFT_FLOAT, "l_ankle_roll", 1, &data->l_ankle_roll, "");
65  add_fieldinfo(IFT_FLOAT, "r_shoulder_pitch", 1, &data->r_shoulder_pitch, "");
66  add_fieldinfo(IFT_FLOAT, "r_shoulder_roll", 1, &data->r_shoulder_roll, "");
67  add_fieldinfo(IFT_FLOAT, "r_elbow_yaw", 1, &data->r_elbow_yaw, "");
68  add_fieldinfo(IFT_FLOAT, "r_elbow_roll", 1, &data->r_elbow_roll, "");
69  add_fieldinfo(IFT_FLOAT, "r_wrist_yaw", 1, &data->r_wrist_yaw, "");
70  add_fieldinfo(IFT_FLOAT, "r_hand", 1, &data->r_hand, "");
71  add_fieldinfo(IFT_FLOAT, "r_hip_yaw_pitch", 1, &data->r_hip_yaw_pitch, "");
72  add_fieldinfo(IFT_FLOAT, "r_hip_roll", 1, &data->r_hip_roll, "");
73  add_fieldinfo(IFT_FLOAT, "r_hip_pitch", 1, &data->r_hip_pitch, "");
74  add_fieldinfo(IFT_FLOAT, "r_knee_pitch", 1, &data->r_knee_pitch, "");
75  add_fieldinfo(IFT_FLOAT, "r_ankle_pitch", 1, &data->r_ankle_pitch, "");
76  add_fieldinfo(IFT_FLOAT, "r_ankle_roll", 1, &data->r_ankle_roll, "");
77  add_fieldinfo(IFT_FLOAT, "minimum", 1, &data->minimum, "");
78  add_messageinfo("SetStiffnessMessage");
79  add_messageinfo("SetBodyStiffnessMessage");
80  add_messageinfo("SetStiffnessesMessage");
81  unsigned char tmp_hash[] = {0x29, 0x35, 0x74, 0x2f, 0x4e, 0x93, 0x53, 0xc4, 0x28, 0x56, 0xc8, 0x4a, 0x66, 0x81, 0xd6, 0x6d};
82  set_hash(tmp_hash);
83 }
84 
85 /** Destructor */
86 NaoJointStiffnessInterface::~NaoJointStiffnessInterface()
87 {
88  free(data_ptr);
89 }
90 /* Methods */
91 /** Get head_yaw value.
92  * Head yaw
93  * @return head_yaw value
94  */
95 float
97 {
98  return data->head_yaw;
99 }
100 
101 /** Get maximum length of head_yaw value.
102  * @return length of head_yaw value, can be length of the array or number of
103  * maximum number of characters for a string
104  */
105 size_t
107 {
108  return 1;
109 }
110 
111 /** Set head_yaw value.
112  * Head yaw
113  * @param new_head_yaw new head_yaw value
114  */
115 void
117 {
118  data->head_yaw = new_head_yaw;
119  data_changed = true;
120 }
121 
122 /** Get head_pitch value.
123  * Head pitch
124  * @return head_pitch value
125  */
126 float
128 {
129  return data->head_pitch;
130 }
131 
132 /** Get maximum length of head_pitch value.
133  * @return length of head_pitch value, can be length of the array or number of
134  * maximum number of characters for a string
135  */
136 size_t
138 {
139  return 1;
140 }
141 
142 /** Set head_pitch value.
143  * Head pitch
144  * @param new_head_pitch new head_pitch value
145  */
146 void
148 {
149  data->head_pitch = new_head_pitch;
150  data_changed = true;
151 }
152 
153 /** Get l_shoulder_pitch value.
154  * Left shoulder pitch
155  * @return l_shoulder_pitch value
156  */
157 float
159 {
160  return data->l_shoulder_pitch;
161 }
162 
163 /** Get maximum length of l_shoulder_pitch value.
164  * @return length of l_shoulder_pitch value, can be length of the array or number of
165  * maximum number of characters for a string
166  */
167 size_t
169 {
170  return 1;
171 }
172 
173 /** Set l_shoulder_pitch value.
174  * Left shoulder pitch
175  * @param new_l_shoulder_pitch new l_shoulder_pitch value
176  */
177 void
178 NaoJointStiffnessInterface::set_l_shoulder_pitch(const float new_l_shoulder_pitch)
179 {
180  data->l_shoulder_pitch = new_l_shoulder_pitch;
181  data_changed = true;
182 }
183 
184 /** Get l_shoulder_roll value.
185  * Left shoulder roll
186  * @return l_shoulder_roll value
187  */
188 float
190 {
191  return data->l_shoulder_roll;
192 }
193 
194 /** Get maximum length of l_shoulder_roll value.
195  * @return length of l_shoulder_roll value, can be length of the array or number of
196  * maximum number of characters for a string
197  */
198 size_t
200 {
201  return 1;
202 }
203 
204 /** Set l_shoulder_roll value.
205  * Left shoulder roll
206  * @param new_l_shoulder_roll new l_shoulder_roll value
207  */
208 void
209 NaoJointStiffnessInterface::set_l_shoulder_roll(const float new_l_shoulder_roll)
210 {
211  data->l_shoulder_roll = new_l_shoulder_roll;
212  data_changed = true;
213 }
214 
215 /** Get l_elbow_yaw value.
216  * Left elbow yaw
217  * @return l_elbow_yaw value
218  */
219 float
221 {
222  return data->l_elbow_yaw;
223 }
224 
225 /** Get maximum length of l_elbow_yaw value.
226  * @return length of l_elbow_yaw value, can be length of the array or number of
227  * maximum number of characters for a string
228  */
229 size_t
231 {
232  return 1;
233 }
234 
235 /** Set l_elbow_yaw value.
236  * Left elbow yaw
237  * @param new_l_elbow_yaw new l_elbow_yaw value
238  */
239 void
241 {
242  data->l_elbow_yaw = new_l_elbow_yaw;
243  data_changed = true;
244 }
245 
246 /** Get l_elbow_roll value.
247  * Left elbow roll
248  * @return l_elbow_roll value
249  */
250 float
252 {
253  return data->l_elbow_roll;
254 }
255 
256 /** Get maximum length of l_elbow_roll value.
257  * @return length of l_elbow_roll value, can be length of the array or number of
258  * maximum number of characters for a string
259  */
260 size_t
262 {
263  return 1;
264 }
265 
266 /** Set l_elbow_roll value.
267  * Left elbow roll
268  * @param new_l_elbow_roll new l_elbow_roll value
269  */
270 void
271 NaoJointStiffnessInterface::set_l_elbow_roll(const float new_l_elbow_roll)
272 {
273  data->l_elbow_roll = new_l_elbow_roll;
274  data_changed = true;
275 }
276 
277 /** Get l_wrist_yaw value.
278  * Left wrist yaw
279  * @return l_wrist_yaw value
280  */
281 float
283 {
284  return data->l_wrist_yaw;
285 }
286 
287 /** Get maximum length of l_wrist_yaw value.
288  * @return length of l_wrist_yaw value, can be length of the array or number of
289  * maximum number of characters for a string
290  */
291 size_t
293 {
294  return 1;
295 }
296 
297 /** Set l_wrist_yaw value.
298  * Left wrist yaw
299  * @param new_l_wrist_yaw new l_wrist_yaw value
300  */
301 void
303 {
304  data->l_wrist_yaw = new_l_wrist_yaw;
305  data_changed = true;
306 }
307 
308 /** Get l_hand value.
309  * Left hand
310  * @return l_hand value
311  */
312 float
314 {
315  return data->l_hand;
316 }
317 
318 /** Get maximum length of l_hand value.
319  * @return length of l_hand value, can be length of the array or number of
320  * maximum number of characters for a string
321  */
322 size_t
324 {
325  return 1;
326 }
327 
328 /** Set l_hand value.
329  * Left hand
330  * @param new_l_hand new l_hand value
331  */
332 void
334 {
335  data->l_hand = new_l_hand;
336  data_changed = true;
337 }
338 
339 /** Get l_hip_yaw_pitch value.
340  * Left hip yaw pitch
341  * @return l_hip_yaw_pitch value
342  */
343 float
345 {
346  return data->l_hip_yaw_pitch;
347 }
348 
349 /** Get maximum length of l_hip_yaw_pitch value.
350  * @return length of l_hip_yaw_pitch value, can be length of the array or number of
351  * maximum number of characters for a string
352  */
353 size_t
355 {
356  return 1;
357 }
358 
359 /** Set l_hip_yaw_pitch value.
360  * Left hip yaw pitch
361  * @param new_l_hip_yaw_pitch new l_hip_yaw_pitch value
362  */
363 void
364 NaoJointStiffnessInterface::set_l_hip_yaw_pitch(const float new_l_hip_yaw_pitch)
365 {
366  data->l_hip_yaw_pitch = new_l_hip_yaw_pitch;
367  data_changed = true;
368 }
369 
370 /** Get l_hip_roll value.
371  * Left hip roll
372  * @return l_hip_roll value
373  */
374 float
376 {
377  return data->l_hip_roll;
378 }
379 
380 /** Get maximum length of l_hip_roll value.
381  * @return length of l_hip_roll value, can be length of the array or number of
382  * maximum number of characters for a string
383  */
384 size_t
386 {
387  return 1;
388 }
389 
390 /** Set l_hip_roll value.
391  * Left hip roll
392  * @param new_l_hip_roll new l_hip_roll value
393  */
394 void
396 {
397  data->l_hip_roll = new_l_hip_roll;
398  data_changed = true;
399 }
400 
401 /** Get l_hip_pitch value.
402  * Left hip pitch
403  * @return l_hip_pitch value
404  */
405 float
407 {
408  return data->l_hip_pitch;
409 }
410 
411 /** Get maximum length of l_hip_pitch value.
412  * @return length of l_hip_pitch value, can be length of the array or number of
413  * maximum number of characters for a string
414  */
415 size_t
417 {
418  return 1;
419 }
420 
421 /** Set l_hip_pitch value.
422  * Left hip pitch
423  * @param new_l_hip_pitch new l_hip_pitch value
424  */
425 void
427 {
428  data->l_hip_pitch = new_l_hip_pitch;
429  data_changed = true;
430 }
431 
432 /** Get l_knee_pitch value.
433  * Left knee pitch
434  * @return l_knee_pitch value
435  */
436 float
438 {
439  return data->l_knee_pitch;
440 }
441 
442 /** Get maximum length of l_knee_pitch value.
443  * @return length of l_knee_pitch value, can be length of the array or number of
444  * maximum number of characters for a string
445  */
446 size_t
448 {
449  return 1;
450 }
451 
452 /** Set l_knee_pitch value.
453  * Left knee pitch
454  * @param new_l_knee_pitch new l_knee_pitch value
455  */
456 void
457 NaoJointStiffnessInterface::set_l_knee_pitch(const float new_l_knee_pitch)
458 {
459  data->l_knee_pitch = new_l_knee_pitch;
460  data_changed = true;
461 }
462 
463 /** Get l_ankle_pitch value.
464  * Left ankle pitch
465  * @return l_ankle_pitch value
466  */
467 float
469 {
470  return data->l_ankle_pitch;
471 }
472 
473 /** Get maximum length of l_ankle_pitch value.
474  * @return length of l_ankle_pitch value, can be length of the array or number of
475  * maximum number of characters for a string
476  */
477 size_t
479 {
480  return 1;
481 }
482 
483 /** Set l_ankle_pitch value.
484  * Left ankle pitch
485  * @param new_l_ankle_pitch new l_ankle_pitch value
486  */
487 void
488 NaoJointStiffnessInterface::set_l_ankle_pitch(const float new_l_ankle_pitch)
489 {
490  data->l_ankle_pitch = new_l_ankle_pitch;
491  data_changed = true;
492 }
493 
494 /** Get l_ankle_roll value.
495  * Left ankle roll
496  * @return l_ankle_roll value
497  */
498 float
500 {
501  return data->l_ankle_roll;
502 }
503 
504 /** Get maximum length of l_ankle_roll value.
505  * @return length of l_ankle_roll value, can be length of the array or number of
506  * maximum number of characters for a string
507  */
508 size_t
510 {
511  return 1;
512 }
513 
514 /** Set l_ankle_roll value.
515  * Left ankle roll
516  * @param new_l_ankle_roll new l_ankle_roll value
517  */
518 void
519 NaoJointStiffnessInterface::set_l_ankle_roll(const float new_l_ankle_roll)
520 {
521  data->l_ankle_roll = new_l_ankle_roll;
522  data_changed = true;
523 }
524 
525 /** Get r_shoulder_pitch value.
526  * Right shoulder pitch
527  * @return r_shoulder_pitch value
528  */
529 float
531 {
532  return data->r_shoulder_pitch;
533 }
534 
535 /** Get maximum length of r_shoulder_pitch value.
536  * @return length of r_shoulder_pitch value, can be length of the array or number of
537  * maximum number of characters for a string
538  */
539 size_t
541 {
542  return 1;
543 }
544 
545 /** Set r_shoulder_pitch value.
546  * Right shoulder pitch
547  * @param new_r_shoulder_pitch new r_shoulder_pitch value
548  */
549 void
550 NaoJointStiffnessInterface::set_r_shoulder_pitch(const float new_r_shoulder_pitch)
551 {
552  data->r_shoulder_pitch = new_r_shoulder_pitch;
553  data_changed = true;
554 }
555 
556 /** Get r_shoulder_roll value.
557  * Right shoulder roll
558  * @return r_shoulder_roll value
559  */
560 float
562 {
563  return data->r_shoulder_roll;
564 }
565 
566 /** Get maximum length of r_shoulder_roll value.
567  * @return length of r_shoulder_roll value, can be length of the array or number of
568  * maximum number of characters for a string
569  */
570 size_t
572 {
573  return 1;
574 }
575 
576 /** Set r_shoulder_roll value.
577  * Right shoulder roll
578  * @param new_r_shoulder_roll new r_shoulder_roll value
579  */
580 void
581 NaoJointStiffnessInterface::set_r_shoulder_roll(const float new_r_shoulder_roll)
582 {
583  data->r_shoulder_roll = new_r_shoulder_roll;
584  data_changed = true;
585 }
586 
587 /** Get r_elbow_yaw value.
588  * Right elbow yaw
589  * @return r_elbow_yaw value
590  */
591 float
593 {
594  return data->r_elbow_yaw;
595 }
596 
597 /** Get maximum length of r_elbow_yaw value.
598  * @return length of r_elbow_yaw value, can be length of the array or number of
599  * maximum number of characters for a string
600  */
601 size_t
603 {
604  return 1;
605 }
606 
607 /** Set r_elbow_yaw value.
608  * Right elbow yaw
609  * @param new_r_elbow_yaw new r_elbow_yaw value
610  */
611 void
613 {
614  data->r_elbow_yaw = new_r_elbow_yaw;
615  data_changed = true;
616 }
617 
618 /** Get r_elbow_roll value.
619  * Right elbow roll
620  * @return r_elbow_roll value
621  */
622 float
624 {
625  return data->r_elbow_roll;
626 }
627 
628 /** Get maximum length of r_elbow_roll value.
629  * @return length of r_elbow_roll value, can be length of the array or number of
630  * maximum number of characters for a string
631  */
632 size_t
634 {
635  return 1;
636 }
637 
638 /** Set r_elbow_roll value.
639  * Right elbow roll
640  * @param new_r_elbow_roll new r_elbow_roll value
641  */
642 void
643 NaoJointStiffnessInterface::set_r_elbow_roll(const float new_r_elbow_roll)
644 {
645  data->r_elbow_roll = new_r_elbow_roll;
646  data_changed = true;
647 }
648 
649 /** Get r_wrist_yaw value.
650  * Right wrist yaw
651  * @return r_wrist_yaw value
652  */
653 float
655 {
656  return data->r_wrist_yaw;
657 }
658 
659 /** Get maximum length of r_wrist_yaw value.
660  * @return length of r_wrist_yaw value, can be length of the array or number of
661  * maximum number of characters for a string
662  */
663 size_t
665 {
666  return 1;
667 }
668 
669 /** Set r_wrist_yaw value.
670  * Right wrist yaw
671  * @param new_r_wrist_yaw new r_wrist_yaw value
672  */
673 void
675 {
676  data->r_wrist_yaw = new_r_wrist_yaw;
677  data_changed = true;
678 }
679 
680 /** Get r_hand value.
681  * Right hand
682  * @return r_hand value
683  */
684 float
686 {
687  return data->r_hand;
688 }
689 
690 /** Get maximum length of r_hand value.
691  * @return length of r_hand value, can be length of the array or number of
692  * maximum number of characters for a string
693  */
694 size_t
696 {
697  return 1;
698 }
699 
700 /** Set r_hand value.
701  * Right hand
702  * @param new_r_hand new r_hand value
703  */
704 void
706 {
707  data->r_hand = new_r_hand;
708  data_changed = true;
709 }
710 
711 /** Get r_hip_yaw_pitch value.
712  * Right hip yaw pitch
713  * @return r_hip_yaw_pitch value
714  */
715 float
717 {
718  return data->r_hip_yaw_pitch;
719 }
720 
721 /** Get maximum length of r_hip_yaw_pitch value.
722  * @return length of r_hip_yaw_pitch value, can be length of the array or number of
723  * maximum number of characters for a string
724  */
725 size_t
727 {
728  return 1;
729 }
730 
731 /** Set r_hip_yaw_pitch value.
732  * Right hip yaw pitch
733  * @param new_r_hip_yaw_pitch new r_hip_yaw_pitch value
734  */
735 void
736 NaoJointStiffnessInterface::set_r_hip_yaw_pitch(const float new_r_hip_yaw_pitch)
737 {
738  data->r_hip_yaw_pitch = new_r_hip_yaw_pitch;
739  data_changed = true;
740 }
741 
742 /** Get r_hip_roll value.
743  * Right hip roll
744  * @return r_hip_roll value
745  */
746 float
748 {
749  return data->r_hip_roll;
750 }
751 
752 /** Get maximum length of r_hip_roll value.
753  * @return length of r_hip_roll value, can be length of the array or number of
754  * maximum number of characters for a string
755  */
756 size_t
758 {
759  return 1;
760 }
761 
762 /** Set r_hip_roll value.
763  * Right hip roll
764  * @param new_r_hip_roll new r_hip_roll value
765  */
766 void
768 {
769  data->r_hip_roll = new_r_hip_roll;
770  data_changed = true;
771 }
772 
773 /** Get r_hip_pitch value.
774  * Right hip pitch
775  * @return r_hip_pitch value
776  */
777 float
779 {
780  return data->r_hip_pitch;
781 }
782 
783 /** Get maximum length of r_hip_pitch value.
784  * @return length of r_hip_pitch value, can be length of the array or number of
785  * maximum number of characters for a string
786  */
787 size_t
789 {
790  return 1;
791 }
792 
793 /** Set r_hip_pitch value.
794  * Right hip pitch
795  * @param new_r_hip_pitch new r_hip_pitch value
796  */
797 void
799 {
800  data->r_hip_pitch = new_r_hip_pitch;
801  data_changed = true;
802 }
803 
804 /** Get r_knee_pitch value.
805  * Right knee pitch
806  * @return r_knee_pitch value
807  */
808 float
810 {
811  return data->r_knee_pitch;
812 }
813 
814 /** Get maximum length of r_knee_pitch value.
815  * @return length of r_knee_pitch value, can be length of the array or number of
816  * maximum number of characters for a string
817  */
818 size_t
820 {
821  return 1;
822 }
823 
824 /** Set r_knee_pitch value.
825  * Right knee pitch
826  * @param new_r_knee_pitch new r_knee_pitch value
827  */
828 void
829 NaoJointStiffnessInterface::set_r_knee_pitch(const float new_r_knee_pitch)
830 {
831  data->r_knee_pitch = new_r_knee_pitch;
832  data_changed = true;
833 }
834 
835 /** Get r_ankle_pitch value.
836  * Right ankle pitch
837  * @return r_ankle_pitch value
838  */
839 float
841 {
842  return data->r_ankle_pitch;
843 }
844 
845 /** Get maximum length of r_ankle_pitch value.
846  * @return length of r_ankle_pitch value, can be length of the array or number of
847  * maximum number of characters for a string
848  */
849 size_t
851 {
852  return 1;
853 }
854 
855 /** Set r_ankle_pitch value.
856  * Right ankle pitch
857  * @param new_r_ankle_pitch new r_ankle_pitch value
858  */
859 void
860 NaoJointStiffnessInterface::set_r_ankle_pitch(const float new_r_ankle_pitch)
861 {
862  data->r_ankle_pitch = new_r_ankle_pitch;
863  data_changed = true;
864 }
865 
866 /** Get r_ankle_roll value.
867  * Right ankle roll
868  * @return r_ankle_roll value
869  */
870 float
872 {
873  return data->r_ankle_roll;
874 }
875 
876 /** Get maximum length of r_ankle_roll value.
877  * @return length of r_ankle_roll value, can be length of the array or number of
878  * maximum number of characters for a string
879  */
880 size_t
882 {
883  return 1;
884 }
885 
886 /** Set r_ankle_roll value.
887  * Right ankle roll
888  * @param new_r_ankle_roll new r_ankle_roll value
889  */
890 void
891 NaoJointStiffnessInterface::set_r_ankle_roll(const float new_r_ankle_roll)
892 {
893  data->r_ankle_roll = new_r_ankle_roll;
894  data_changed = true;
895 }
896 
897 /** Get minimum value.
898  *
899  Minimum stiffness of all joints. On the RoboCup version of the Nao this
900  ignores the hand and wrist values.
901 
902  * @return minimum value
903  */
904 float
906 {
907  return data->minimum;
908 }
909 
910 /** Get maximum length of minimum value.
911  * @return length of minimum value, can be length of the array or number of
912  * maximum number of characters for a string
913  */
914 size_t
916 {
917  return 1;
918 }
919 
920 /** Set minimum value.
921  *
922  Minimum stiffness of all joints. On the RoboCup version of the Nao this
923  ignores the hand and wrist values.
924 
925  * @param new_minimum new minimum value
926  */
927 void
929 {
930  data->minimum = new_minimum;
931  data_changed = true;
932 }
933 
934 /* =========== message create =========== */
935 Message *
937 {
938  if ( strncmp("SetStiffnessMessage", type, __INTERFACE_MESSAGE_TYPE_SIZE) == 0 ) {
939  return new SetStiffnessMessage();
940  } else if ( strncmp("SetBodyStiffnessMessage", type, __INTERFACE_MESSAGE_TYPE_SIZE) == 0 ) {
941  return new SetBodyStiffnessMessage();
942  } else if ( strncmp("SetStiffnessesMessage", type, __INTERFACE_MESSAGE_TYPE_SIZE) == 0 ) {
943  return new SetStiffnessesMessage();
944  } else {
945  throw UnknownTypeException("The given type '%s' does not match any known "
946  "message type for this interface type.", type);
947  }
948 }
949 
950 
951 /** Copy values from other interface.
952  * @param other other interface to copy values from
953  */
954 void
956 {
957  const NaoJointStiffnessInterface *oi = dynamic_cast<const NaoJointStiffnessInterface *>(other);
958  if (oi == NULL) {
959  throw TypeMismatchException("Can only copy values from interface of same type (%s vs. %s)",
960  type(), other->type());
961  }
962  memcpy(data, oi->data, sizeof(NaoJointStiffnessInterface_data_t));
963 }
964 
965 const char *
966 NaoJointStiffnessInterface::enum_tostring(const char *enumtype, int val) const
967 {
968  throw UnknownTypeException("Unknown enum type %s", enumtype);
969 }
970 
971 /* =========== messages =========== */
972 /** @class NaoJointStiffnessInterface::SetStiffnessMessage <interfaces/NaoJointStiffnessInterface.h>
973  * SetStiffnessMessage Fawkes BlackBoard Interface Message.
974  *
975 
976  */
977 
978 
979 /** Constructor with initial values.
980  * @param ini_servo initial value for servo
981  * @param ini_value initial value for value
982  * @param ini_time_sec initial value for time_sec
983  */
984 NaoJointStiffnessInterface::SetStiffnessMessage::SetStiffnessMessage(const uint32_t ini_servo, const float ini_value, const float ini_time_sec) : Message("SetStiffnessMessage")
985 {
986  data_size = sizeof(SetStiffnessMessage_data_t);
987  data_ptr = malloc(data_size);
988  memset(data_ptr, 0, data_size);
989  data = (SetStiffnessMessage_data_t *)data_ptr;
991  data->servo = ini_servo;
992  data->value = ini_value;
993  data->time_sec = ini_time_sec;
994  add_fieldinfo(IFT_UINT32, "servo", 1, &data->servo, "");
995  add_fieldinfo(IFT_FLOAT, "value", 1, &data->value, "");
996  add_fieldinfo(IFT_FLOAT, "time_sec", 1, &data->time_sec, "");
997 }
998 /** Constructor */
1000 {
1001  data_size = sizeof(SetStiffnessMessage_data_t);
1002  data_ptr = malloc(data_size);
1003  memset(data_ptr, 0, data_size);
1004  data = (SetStiffnessMessage_data_t *)data_ptr;
1006  add_fieldinfo(IFT_UINT32, "servo", 1, &data->servo, "");
1007  add_fieldinfo(IFT_FLOAT, "value", 1, &data->value, "");
1008  add_fieldinfo(IFT_FLOAT, "time_sec", 1, &data->time_sec, "");
1009 }
1010 
1011 /** Destructor */
1013 {
1014  free(data_ptr);
1015 }
1016 
1017 /** Copy constructor.
1018  * @param m message to copy from
1019  */
1021 {
1022  data_size = m->data_size;
1023  data_ptr = malloc(data_size);
1024  memcpy(data_ptr, m->data_ptr, data_size);
1025  data = (SetStiffnessMessage_data_t *)data_ptr;
1027 }
1028 
1029 /* Methods */
1030 /** Get servo value.
1031  *
1032  A concatenated list of SERVO_* constants from the
1033  NaoJointPositionInterface to define the servos that should
1034  execute the movement. The list shall consist of binary or'ed
1035  SERVO_* constants.
1036 
1037  * @return servo value
1038  */
1039 uint32_t
1041 {
1042  return data->servo;
1043 }
1044 
1045 /** Get maximum length of servo value.
1046  * @return length of servo value, can be length of the array or number of
1047  * maximum number of characters for a string
1048  */
1049 size_t
1051 {
1052  return 1;
1053 }
1054 
1055 /** Set servo value.
1056  *
1057  A concatenated list of SERVO_* constants from the
1058  NaoJointPositionInterface to define the servos that should
1059  execute the movement. The list shall consist of binary or'ed
1060  SERVO_* constants.
1061 
1062  * @param new_servo new servo value
1063  */
1064 void
1066 {
1067  data->servo = new_servo;
1068 }
1069 
1070 /** Get value value.
1071  * Servo value to set for servos.
1072  * @return value value
1073  */
1074 float
1076 {
1077  return data->value;
1078 }
1079 
1080 /** Get maximum length of value value.
1081  * @return length of value value, can be length of the array or number of
1082  * maximum number of characters for a string
1083  */
1084 size_t
1086 {
1087  return 1;
1088 }
1089 
1090 /** Set value value.
1091  * Servo value to set for servos.
1092  * @param new_value new value value
1093  */
1094 void
1096 {
1097  data->value = new_value;
1098 }
1099 
1100 /** Get time_sec value.
1101  * Time when to reach the stiffness.
1102  * @return time_sec value
1103  */
1104 float
1106 {
1107  return data->time_sec;
1108 }
1109 
1110 /** Get maximum length of time_sec value.
1111  * @return length of time_sec value, can be length of the array or number of
1112  * maximum number of characters for a string
1113  */
1114 size_t
1116 {
1117  return 1;
1118 }
1119 
1120 /** Set time_sec value.
1121  * Time when to reach the stiffness.
1122  * @param new_time_sec new time_sec value
1123  */
1124 void
1126 {
1127  data->time_sec = new_time_sec;
1128 }
1129 
1130 /** Clone this message.
1131  * Produces a message of the same type as this message and copies the
1132  * data to the new message.
1133  * @return clone of this message
1134  */
1135 Message *
1137 {
1139 }
1140 /** @class NaoJointStiffnessInterface::SetBodyStiffnessMessage <interfaces/NaoJointStiffnessInterface.h>
1141  * SetBodyStiffnessMessage Fawkes BlackBoard Interface Message.
1142  *
1143 
1144  */
1145 
1146 
1147 /** Constructor with initial values.
1148  * @param ini_value initial value for value
1149  * @param ini_time_sec initial value for time_sec
1150  */
1151 NaoJointStiffnessInterface::SetBodyStiffnessMessage::SetBodyStiffnessMessage(const float ini_value, const float ini_time_sec) : Message("SetBodyStiffnessMessage")
1152 {
1153  data_size = sizeof(SetBodyStiffnessMessage_data_t);
1154  data_ptr = malloc(data_size);
1155  memset(data_ptr, 0, data_size);
1156  data = (SetBodyStiffnessMessage_data_t *)data_ptr;
1158  data->value = ini_value;
1159  data->time_sec = ini_time_sec;
1160  add_fieldinfo(IFT_FLOAT, "value", 1, &data->value, "");
1161  add_fieldinfo(IFT_FLOAT, "time_sec", 1, &data->time_sec, "");
1162 }
1163 /** Constructor */
1165 {
1166  data_size = sizeof(SetBodyStiffnessMessage_data_t);
1167  data_ptr = malloc(data_size);
1168  memset(data_ptr, 0, data_size);
1169  data = (SetBodyStiffnessMessage_data_t *)data_ptr;
1171  add_fieldinfo(IFT_FLOAT, "value", 1, &data->value, "");
1172  add_fieldinfo(IFT_FLOAT, "time_sec", 1, &data->time_sec, "");
1173 }
1174 
1175 /** Destructor */
1177 {
1178  free(data_ptr);
1179 }
1180 
1181 /** Copy constructor.
1182  * @param m message to copy from
1183  */
1185 {
1186  data_size = m->data_size;
1187  data_ptr = malloc(data_size);
1188  memcpy(data_ptr, m->data_ptr, data_size);
1189  data = (SetBodyStiffnessMessage_data_t *)data_ptr;
1191 }
1192 
1193 /* Methods */
1194 /** Get value value.
1195  * Servo value to set for servos.
1196  * @return value value
1197  */
1198 float
1200 {
1201  return data->value;
1202 }
1203 
1204 /** Get maximum length of value value.
1205  * @return length of value value, can be length of the array or number of
1206  * maximum number of characters for a string
1207  */
1208 size_t
1210 {
1211  return 1;
1212 }
1213 
1214 /** Set value value.
1215  * Servo value to set for servos.
1216  * @param new_value new value value
1217  */
1218 void
1220 {
1221  data->value = new_value;
1222 }
1223 
1224 /** Get time_sec value.
1225  * Time when to reach the stiffness.
1226  * @return time_sec value
1227  */
1228 float
1230 {
1231  return data->time_sec;
1232 }
1233 
1234 /** Get maximum length of time_sec value.
1235  * @return length of time_sec value, can be length of the array or number of
1236  * maximum number of characters for a string
1237  */
1238 size_t
1240 {
1241  return 1;
1242 }
1243 
1244 /** Set time_sec value.
1245  * Time when to reach the stiffness.
1246  * @param new_time_sec new time_sec value
1247  */
1248 void
1250 {
1251  data->time_sec = new_time_sec;
1252 }
1253 
1254 /** Clone this message.
1255  * Produces a message of the same type as this message and copies the
1256  * data to the new message.
1257  * @return clone of this message
1258  */
1259 Message *
1261 {
1263 }
1264 /** @class NaoJointStiffnessInterface::SetStiffnessesMessage <interfaces/NaoJointStiffnessInterface.h>
1265  * SetStiffnessesMessage Fawkes BlackBoard Interface Message.
1266  *
1267 
1268  */
1269 
1270 
1271 /** Constructor with initial values.
1272  * @param ini_time_sec initial value for time_sec
1273  * @param ini_head_yaw initial value for head_yaw
1274  * @param ini_head_pitch initial value for head_pitch
1275  * @param ini_l_shoulder_pitch initial value for l_shoulder_pitch
1276  * @param ini_l_shoulder_roll initial value for l_shoulder_roll
1277  * @param ini_l_elbow_yaw initial value for l_elbow_yaw
1278  * @param ini_l_elbow_roll initial value for l_elbow_roll
1279  * @param ini_l_wrist_yaw initial value for l_wrist_yaw
1280  * @param ini_l_hand initial value for l_hand
1281  * @param ini_l_hip_yaw_pitch initial value for l_hip_yaw_pitch
1282  * @param ini_l_hip_roll initial value for l_hip_roll
1283  * @param ini_l_hip_pitch initial value for l_hip_pitch
1284  * @param ini_l_knee_pitch initial value for l_knee_pitch
1285  * @param ini_l_ankle_pitch initial value for l_ankle_pitch
1286  * @param ini_l_ankle_roll initial value for l_ankle_roll
1287  * @param ini_r_shoulder_pitch initial value for r_shoulder_pitch
1288  * @param ini_r_shoulder_roll initial value for r_shoulder_roll
1289  * @param ini_r_elbow_yaw initial value for r_elbow_yaw
1290  * @param ini_r_wrist_yaw initial value for r_wrist_yaw
1291  * @param ini_r_hand initial value for r_hand
1292  * @param ini_r_hip_yaw_pitch initial value for r_hip_yaw_pitch
1293  * @param ini_r_hip_roll initial value for r_hip_roll
1294  * @param ini_r_hip_pitch initial value for r_hip_pitch
1295  * @param ini_r_knee_pitch initial value for r_knee_pitch
1296  * @param ini_r_ankle_pitch initial value for r_ankle_pitch
1297  * @param ini_r_ankle_roll initial value for r_ankle_roll
1298  * @param ini_r_elbow_roll initial value for r_elbow_roll
1299  */
1300 NaoJointStiffnessInterface::SetStiffnessesMessage::SetStiffnessesMessage(const float ini_time_sec, const float ini_head_yaw, const float ini_head_pitch, const float ini_l_shoulder_pitch, const float ini_l_shoulder_roll, const float ini_l_elbow_yaw, const float ini_l_elbow_roll, const float ini_l_wrist_yaw, const float ini_l_hand, const float ini_l_hip_yaw_pitch, const float ini_l_hip_roll, const float ini_l_hip_pitch, const float ini_l_knee_pitch, const float ini_l_ankle_pitch, const float ini_l_ankle_roll, const float ini_r_shoulder_pitch, const float ini_r_shoulder_roll, const float ini_r_elbow_yaw, const float ini_r_wrist_yaw, const float ini_r_hand, const float ini_r_hip_yaw_pitch, const float ini_r_hip_roll, const float ini_r_hip_pitch, const float ini_r_knee_pitch, const float ini_r_ankle_pitch, const float ini_r_ankle_roll, const float ini_r_elbow_roll) : Message("SetStiffnessesMessage")
1301 {
1302  data_size = sizeof(SetStiffnessesMessage_data_t);
1303  data_ptr = malloc(data_size);
1304  memset(data_ptr, 0, data_size);
1305  data = (SetStiffnessesMessage_data_t *)data_ptr;
1307  data->time_sec = ini_time_sec;
1308  data->head_yaw = ini_head_yaw;
1309  data->head_pitch = ini_head_pitch;
1310  data->l_shoulder_pitch = ini_l_shoulder_pitch;
1311  data->l_shoulder_roll = ini_l_shoulder_roll;
1312  data->l_elbow_yaw = ini_l_elbow_yaw;
1313  data->l_elbow_roll = ini_l_elbow_roll;
1314  data->l_wrist_yaw = ini_l_wrist_yaw;
1315  data->l_hand = ini_l_hand;
1316  data->l_hip_yaw_pitch = ini_l_hip_yaw_pitch;
1317  data->l_hip_roll = ini_l_hip_roll;
1318  data->l_hip_pitch = ini_l_hip_pitch;
1319  data->l_knee_pitch = ini_l_knee_pitch;
1320  data->l_ankle_pitch = ini_l_ankle_pitch;
1321  data->l_ankle_roll = ini_l_ankle_roll;
1322  data->r_shoulder_pitch = ini_r_shoulder_pitch;
1323  data->r_shoulder_roll = ini_r_shoulder_roll;
1324  data->r_elbow_yaw = ini_r_elbow_yaw;
1325  data->r_wrist_yaw = ini_r_wrist_yaw;
1326  data->r_hand = ini_r_hand;
1327  data->r_hip_yaw_pitch = ini_r_hip_yaw_pitch;
1328  data->r_hip_roll = ini_r_hip_roll;
1329  data->r_hip_pitch = ini_r_hip_pitch;
1330  data->r_knee_pitch = ini_r_knee_pitch;
1331  data->r_ankle_pitch = ini_r_ankle_pitch;
1332  data->r_ankle_roll = ini_r_ankle_roll;
1333  data->r_elbow_roll = ini_r_elbow_roll;
1334  add_fieldinfo(IFT_FLOAT, "time_sec", 1, &data->time_sec, "");
1335  add_fieldinfo(IFT_FLOAT, "head_yaw", 1, &data->head_yaw, "");
1336  add_fieldinfo(IFT_FLOAT, "head_pitch", 1, &data->head_pitch, "");
1337  add_fieldinfo(IFT_FLOAT, "l_shoulder_pitch", 1, &data->l_shoulder_pitch, "");
1338  add_fieldinfo(IFT_FLOAT, "l_shoulder_roll", 1, &data->l_shoulder_roll, "");
1339  add_fieldinfo(IFT_FLOAT, "l_elbow_yaw", 1, &data->l_elbow_yaw, "");
1340  add_fieldinfo(IFT_FLOAT, "l_elbow_roll", 1, &data->l_elbow_roll, "");
1341  add_fieldinfo(IFT_FLOAT, "l_wrist_yaw", 1, &data->l_wrist_yaw, "");
1342  add_fieldinfo(IFT_FLOAT, "l_hand", 1, &data->l_hand, "");
1343  add_fieldinfo(IFT_FLOAT, "l_hip_yaw_pitch", 1, &data->l_hip_yaw_pitch, "");
1344  add_fieldinfo(IFT_FLOAT, "l_hip_roll", 1, &data->l_hip_roll, "");
1345  add_fieldinfo(IFT_FLOAT, "l_hip_pitch", 1, &data->l_hip_pitch, "");
1346  add_fieldinfo(IFT_FLOAT, "l_knee_pitch", 1, &data->l_knee_pitch, "");
1347  add_fieldinfo(IFT_FLOAT, "l_ankle_pitch", 1, &data->l_ankle_pitch, "");
1348  add_fieldinfo(IFT_FLOAT, "l_ankle_roll", 1, &data->l_ankle_roll, "");
1349  add_fieldinfo(IFT_FLOAT, "r_shoulder_pitch", 1, &data->r_shoulder_pitch, "");
1350  add_fieldinfo(IFT_FLOAT, "r_shoulder_roll", 1, &data->r_shoulder_roll, "");
1351  add_fieldinfo(IFT_FLOAT, "r_elbow_yaw", 1, &data->r_elbow_yaw, "");
1352  add_fieldinfo(IFT_FLOAT, "r_wrist_yaw", 1, &data->r_wrist_yaw, "");
1353  add_fieldinfo(IFT_FLOAT, "r_hand", 1, &data->r_hand, "");
1354  add_fieldinfo(IFT_FLOAT, "r_hip_yaw_pitch", 1, &data->r_hip_yaw_pitch, "");
1355  add_fieldinfo(IFT_FLOAT, "r_hip_roll", 1, &data->r_hip_roll, "");
1356  add_fieldinfo(IFT_FLOAT, "r_hip_pitch", 1, &data->r_hip_pitch, "");
1357  add_fieldinfo(IFT_FLOAT, "r_knee_pitch", 1, &data->r_knee_pitch, "");
1358  add_fieldinfo(IFT_FLOAT, "r_ankle_pitch", 1, &data->r_ankle_pitch, "");
1359  add_fieldinfo(IFT_FLOAT, "r_ankle_roll", 1, &data->r_ankle_roll, "");
1360  add_fieldinfo(IFT_FLOAT, "r_elbow_roll", 1, &data->r_elbow_roll, "");
1361 }
1362 /** Constructor */
1364 {
1365  data_size = sizeof(SetStiffnessesMessage_data_t);
1366  data_ptr = malloc(data_size);
1367  memset(data_ptr, 0, data_size);
1368  data = (SetStiffnessesMessage_data_t *)data_ptr;
1370  add_fieldinfo(IFT_FLOAT, "time_sec", 1, &data->time_sec, "");
1371  add_fieldinfo(IFT_FLOAT, "head_yaw", 1, &data->head_yaw, "");
1372  add_fieldinfo(IFT_FLOAT, "head_pitch", 1, &data->head_pitch, "");
1373  add_fieldinfo(IFT_FLOAT, "l_shoulder_pitch", 1, &data->l_shoulder_pitch, "");
1374  add_fieldinfo(IFT_FLOAT, "l_shoulder_roll", 1, &data->l_shoulder_roll, "");
1375  add_fieldinfo(IFT_FLOAT, "l_elbow_yaw", 1, &data->l_elbow_yaw, "");
1376  add_fieldinfo(IFT_FLOAT, "l_elbow_roll", 1, &data->l_elbow_roll, "");
1377  add_fieldinfo(IFT_FLOAT, "l_wrist_yaw", 1, &data->l_wrist_yaw, "");
1378  add_fieldinfo(IFT_FLOAT, "l_hand", 1, &data->l_hand, "");
1379  add_fieldinfo(IFT_FLOAT, "l_hip_yaw_pitch", 1, &data->l_hip_yaw_pitch, "");
1380  add_fieldinfo(IFT_FLOAT, "l_hip_roll", 1, &data->l_hip_roll, "");
1381  add_fieldinfo(IFT_FLOAT, "l_hip_pitch", 1, &data->l_hip_pitch, "");
1382  add_fieldinfo(IFT_FLOAT, "l_knee_pitch", 1, &data->l_knee_pitch, "");
1383  add_fieldinfo(IFT_FLOAT, "l_ankle_pitch", 1, &data->l_ankle_pitch, "");
1384  add_fieldinfo(IFT_FLOAT, "l_ankle_roll", 1, &data->l_ankle_roll, "");
1385  add_fieldinfo(IFT_FLOAT, "r_shoulder_pitch", 1, &data->r_shoulder_pitch, "");
1386  add_fieldinfo(IFT_FLOAT, "r_shoulder_roll", 1, &data->r_shoulder_roll, "");
1387  add_fieldinfo(IFT_FLOAT, "r_elbow_yaw", 1, &data->r_elbow_yaw, "");
1388  add_fieldinfo(IFT_FLOAT, "r_wrist_yaw", 1, &data->r_wrist_yaw, "");
1389  add_fieldinfo(IFT_FLOAT, "r_hand", 1, &data->r_hand, "");
1390  add_fieldinfo(IFT_FLOAT, "r_hip_yaw_pitch", 1, &data->r_hip_yaw_pitch, "");
1391  add_fieldinfo(IFT_FLOAT, "r_hip_roll", 1, &data->r_hip_roll, "");
1392  add_fieldinfo(IFT_FLOAT, "r_hip_pitch", 1, &data->r_hip_pitch, "");
1393  add_fieldinfo(IFT_FLOAT, "r_knee_pitch", 1, &data->r_knee_pitch, "");
1394  add_fieldinfo(IFT_FLOAT, "r_ankle_pitch", 1, &data->r_ankle_pitch, "");
1395  add_fieldinfo(IFT_FLOAT, "r_ankle_roll", 1, &data->r_ankle_roll, "");
1396  add_fieldinfo(IFT_FLOAT, "r_elbow_roll", 1, &data->r_elbow_roll, "");
1397 }
1398 
1399 /** Destructor */
1401 {
1402  free(data_ptr);
1403 }
1404 
1405 /** Copy constructor.
1406  * @param m message to copy from
1407  */
1409 {
1410  data_size = m->data_size;
1411  data_ptr = malloc(data_size);
1412  memcpy(data_ptr, m->data_ptr, data_size);
1413  data = (SetStiffnessesMessage_data_t *)data_ptr;
1415 }
1416 
1417 /* Methods */
1418 /** Get time_sec value.
1419  * Time when to reach the stiffness.
1420  * @return time_sec value
1421  */
1422 float
1424 {
1425  return data->time_sec;
1426 }
1427 
1428 /** Get maximum length of time_sec value.
1429  * @return length of time_sec value, can be length of the array or number of
1430  * maximum number of characters for a string
1431  */
1432 size_t
1434 {
1435  return 1;
1436 }
1437 
1438 /** Set time_sec value.
1439  * Time when to reach the stiffness.
1440  * @param new_time_sec new time_sec value
1441  */
1442 void
1444 {
1445  data->time_sec = new_time_sec;
1446 }
1447 
1448 /** Get head_yaw value.
1449  * Head yaw
1450  * @return head_yaw value
1451  */
1452 float
1454 {
1455  return data->head_yaw;
1456 }
1457 
1458 /** Get maximum length of head_yaw value.
1459  * @return length of head_yaw value, can be length of the array or number of
1460  * maximum number of characters for a string
1461  */
1462 size_t
1464 {
1465  return 1;
1466 }
1467 
1468 /** Set head_yaw value.
1469  * Head yaw
1470  * @param new_head_yaw new head_yaw value
1471  */
1472 void
1474 {
1475  data->head_yaw = new_head_yaw;
1476 }
1477 
1478 /** Get head_pitch value.
1479  * Head pitch
1480  * @return head_pitch value
1481  */
1482 float
1484 {
1485  return data->head_pitch;
1486 }
1487 
1488 /** Get maximum length of head_pitch value.
1489  * @return length of head_pitch value, can be length of the array or number of
1490  * maximum number of characters for a string
1491  */
1492 size_t
1494 {
1495  return 1;
1496 }
1497 
1498 /** Set head_pitch value.
1499  * Head pitch
1500  * @param new_head_pitch new head_pitch value
1501  */
1502 void
1504 {
1505  data->head_pitch = new_head_pitch;
1506 }
1507 
1508 /** Get l_shoulder_pitch value.
1509  * Left shoulder pitch
1510  * @return l_shoulder_pitch value
1511  */
1512 float
1514 {
1515  return data->l_shoulder_pitch;
1516 }
1517 
1518 /** Get maximum length of l_shoulder_pitch value.
1519  * @return length of l_shoulder_pitch value, can be length of the array or number of
1520  * maximum number of characters for a string
1521  */
1522 size_t
1524 {
1525  return 1;
1526 }
1527 
1528 /** Set l_shoulder_pitch value.
1529  * Left shoulder pitch
1530  * @param new_l_shoulder_pitch new l_shoulder_pitch value
1531  */
1532 void
1534 {
1535  data->l_shoulder_pitch = new_l_shoulder_pitch;
1536 }
1537 
1538 /** Get l_shoulder_roll value.
1539  * Left shoulder roll
1540  * @return l_shoulder_roll value
1541  */
1542 float
1544 {
1545  return data->l_shoulder_roll;
1546 }
1547 
1548 /** Get maximum length of l_shoulder_roll value.
1549  * @return length of l_shoulder_roll value, can be length of the array or number of
1550  * maximum number of characters for a string
1551  */
1552 size_t
1554 {
1555  return 1;
1556 }
1557 
1558 /** Set l_shoulder_roll value.
1559  * Left shoulder roll
1560  * @param new_l_shoulder_roll new l_shoulder_roll value
1561  */
1562 void
1564 {
1565  data->l_shoulder_roll = new_l_shoulder_roll;
1566 }
1567 
1568 /** Get l_elbow_yaw value.
1569  * Left elbow yaw
1570  * @return l_elbow_yaw value
1571  */
1572 float
1574 {
1575  return data->l_elbow_yaw;
1576 }
1577 
1578 /** Get maximum length of l_elbow_yaw value.
1579  * @return length of l_elbow_yaw value, can be length of the array or number of
1580  * maximum number of characters for a string
1581  */
1582 size_t
1584 {
1585  return 1;
1586 }
1587 
1588 /** Set l_elbow_yaw value.
1589  * Left elbow yaw
1590  * @param new_l_elbow_yaw new l_elbow_yaw value
1591  */
1592 void
1594 {
1595  data->l_elbow_yaw = new_l_elbow_yaw;
1596 }
1597 
1598 /** Get l_elbow_roll value.
1599  * Left elbow roll
1600  * @return l_elbow_roll value
1601  */
1602 float
1604 {
1605  return data->l_elbow_roll;
1606 }
1607 
1608 /** Get maximum length of l_elbow_roll value.
1609  * @return length of l_elbow_roll value, can be length of the array or number of
1610  * maximum number of characters for a string
1611  */
1612 size_t
1614 {
1615  return 1;
1616 }
1617 
1618 /** Set l_elbow_roll value.
1619  * Left elbow roll
1620  * @param new_l_elbow_roll new l_elbow_roll value
1621  */
1622 void
1624 {
1625  data->l_elbow_roll = new_l_elbow_roll;
1626 }
1627 
1628 /** Get l_wrist_yaw value.
1629  * Left wrist yaw
1630  * @return l_wrist_yaw value
1631  */
1632 float
1634 {
1635  return data->l_wrist_yaw;
1636 }
1637 
1638 /** Get maximum length of l_wrist_yaw value.
1639  * @return length of l_wrist_yaw value, can be length of the array or number of
1640  * maximum number of characters for a string
1641  */
1642 size_t
1644 {
1645  return 1;
1646 }
1647 
1648 /** Set l_wrist_yaw value.
1649  * Left wrist yaw
1650  * @param new_l_wrist_yaw new l_wrist_yaw value
1651  */
1652 void
1654 {
1655  data->l_wrist_yaw = new_l_wrist_yaw;
1656 }
1657 
1658 /** Get l_hand value.
1659  * Left hand
1660  * @return l_hand value
1661  */
1662 float
1664 {
1665  return data->l_hand;
1666 }
1667 
1668 /** Get maximum length of l_hand value.
1669  * @return length of l_hand value, can be length of the array or number of
1670  * maximum number of characters for a string
1671  */
1672 size_t
1674 {
1675  return 1;
1676 }
1677 
1678 /** Set l_hand value.
1679  * Left hand
1680  * @param new_l_hand new l_hand value
1681  */
1682 void
1684 {
1685  data->l_hand = new_l_hand;
1686 }
1687 
1688 /** Get l_hip_yaw_pitch value.
1689  * Left hip yaw pitch
1690  * @return l_hip_yaw_pitch value
1691  */
1692 float
1694 {
1695  return data->l_hip_yaw_pitch;
1696 }
1697 
1698 /** Get maximum length of l_hip_yaw_pitch value.
1699  * @return length of l_hip_yaw_pitch value, can be length of the array or number of
1700  * maximum number of characters for a string
1701  */
1702 size_t
1704 {
1705  return 1;
1706 }
1707 
1708 /** Set l_hip_yaw_pitch value.
1709  * Left hip yaw pitch
1710  * @param new_l_hip_yaw_pitch new l_hip_yaw_pitch value
1711  */
1712 void
1714 {
1715  data->l_hip_yaw_pitch = new_l_hip_yaw_pitch;
1716 }
1717 
1718 /** Get l_hip_roll value.
1719  * Left hip roll
1720  * @return l_hip_roll value
1721  */
1722 float
1724 {
1725  return data->l_hip_roll;
1726 }
1727 
1728 /** Get maximum length of l_hip_roll value.
1729  * @return length of l_hip_roll value, can be length of the array or number of
1730  * maximum number of characters for a string
1731  */
1732 size_t
1734 {
1735  return 1;
1736 }
1737 
1738 /** Set l_hip_roll value.
1739  * Left hip roll
1740  * @param new_l_hip_roll new l_hip_roll value
1741  */
1742 void
1744 {
1745  data->l_hip_roll = new_l_hip_roll;
1746 }
1747 
1748 /** Get l_hip_pitch value.
1749  * Left hip pitch
1750  * @return l_hip_pitch value
1751  */
1752 float
1754 {
1755  return data->l_hip_pitch;
1756 }
1757 
1758 /** Get maximum length of l_hip_pitch value.
1759  * @return length of l_hip_pitch value, can be length of the array or number of
1760  * maximum number of characters for a string
1761  */
1762 size_t
1764 {
1765  return 1;
1766 }
1767 
1768 /** Set l_hip_pitch value.
1769  * Left hip pitch
1770  * @param new_l_hip_pitch new l_hip_pitch value
1771  */
1772 void
1774 {
1775  data->l_hip_pitch = new_l_hip_pitch;
1776 }
1777 
1778 /** Get l_knee_pitch value.
1779  * Left knee pitch
1780  * @return l_knee_pitch value
1781  */
1782 float
1784 {
1785  return data->l_knee_pitch;
1786 }
1787 
1788 /** Get maximum length of l_knee_pitch value.
1789  * @return length of l_knee_pitch value, can be length of the array or number of
1790  * maximum number of characters for a string
1791  */
1792 size_t
1794 {
1795  return 1;
1796 }
1797 
1798 /** Set l_knee_pitch value.
1799  * Left knee pitch
1800  * @param new_l_knee_pitch new l_knee_pitch value
1801  */
1802 void
1804 {
1805  data->l_knee_pitch = new_l_knee_pitch;
1806 }
1807 
1808 /** Get l_ankle_pitch value.
1809  * Left ankle pitch
1810  * @return l_ankle_pitch value
1811  */
1812 float
1814 {
1815  return data->l_ankle_pitch;
1816 }
1817 
1818 /** Get maximum length of l_ankle_pitch value.
1819  * @return length of l_ankle_pitch value, can be length of the array or number of
1820  * maximum number of characters for a string
1821  */
1822 size_t
1824 {
1825  return 1;
1826 }
1827 
1828 /** Set l_ankle_pitch value.
1829  * Left ankle pitch
1830  * @param new_l_ankle_pitch new l_ankle_pitch value
1831  */
1832 void
1834 {
1835  data->l_ankle_pitch = new_l_ankle_pitch;
1836 }
1837 
1838 /** Get l_ankle_roll value.
1839  * Left ankle roll
1840  * @return l_ankle_roll value
1841  */
1842 float
1844 {
1845  return data->l_ankle_roll;
1846 }
1847 
1848 /** Get maximum length of l_ankle_roll value.
1849  * @return length of l_ankle_roll value, can be length of the array or number of
1850  * maximum number of characters for a string
1851  */
1852 size_t
1854 {
1855  return 1;
1856 }
1857 
1858 /** Set l_ankle_roll value.
1859  * Left ankle roll
1860  * @param new_l_ankle_roll new l_ankle_roll value
1861  */
1862 void
1864 {
1865  data->l_ankle_roll = new_l_ankle_roll;
1866 }
1867 
1868 /** Get r_shoulder_pitch value.
1869  * Right shoulder pitch
1870  * @return r_shoulder_pitch value
1871  */
1872 float
1874 {
1875  return data->r_shoulder_pitch;
1876 }
1877 
1878 /** Get maximum length of r_shoulder_pitch value.
1879  * @return length of r_shoulder_pitch value, can be length of the array or number of
1880  * maximum number of characters for a string
1881  */
1882 size_t
1884 {
1885  return 1;
1886 }
1887 
1888 /** Set r_shoulder_pitch value.
1889  * Right shoulder pitch
1890  * @param new_r_shoulder_pitch new r_shoulder_pitch value
1891  */
1892 void
1894 {
1895  data->r_shoulder_pitch = new_r_shoulder_pitch;
1896 }
1897 
1898 /** Get r_shoulder_roll value.
1899  * Right shoulder roll
1900  * @return r_shoulder_roll value
1901  */
1902 float
1904 {
1905  return data->r_shoulder_roll;
1906 }
1907 
1908 /** Get maximum length of r_shoulder_roll value.
1909  * @return length of r_shoulder_roll value, can be length of the array or number of
1910  * maximum number of characters for a string
1911  */
1912 size_t
1914 {
1915  return 1;
1916 }
1917 
1918 /** Set r_shoulder_roll value.
1919  * Right shoulder roll
1920  * @param new_r_shoulder_roll new r_shoulder_roll value
1921  */
1922 void
1924 {
1925  data->r_shoulder_roll = new_r_shoulder_roll;
1926 }
1927 
1928 /** Get r_elbow_yaw value.
1929  * Right elbow yaw
1930  * @return r_elbow_yaw value
1931  */
1932 float
1934 {
1935  return data->r_elbow_yaw;
1936 }
1937 
1938 /** Get maximum length of r_elbow_yaw value.
1939  * @return length of r_elbow_yaw value, can be length of the array or number of
1940  * maximum number of characters for a string
1941  */
1942 size_t
1944 {
1945  return 1;
1946 }
1947 
1948 /** Set r_elbow_yaw value.
1949  * Right elbow yaw
1950  * @param new_r_elbow_yaw new r_elbow_yaw value
1951  */
1952 void
1954 {
1955  data->r_elbow_yaw = new_r_elbow_yaw;
1956 }
1957 
1958 /** Get r_wrist_yaw value.
1959  * Right wrist yaw
1960  * @return r_wrist_yaw value
1961  */
1962 float
1964 {
1965  return data->r_wrist_yaw;
1966 }
1967 
1968 /** Get maximum length of r_wrist_yaw value.
1969  * @return length of r_wrist_yaw value, can be length of the array or number of
1970  * maximum number of characters for a string
1971  */
1972 size_t
1974 {
1975  return 1;
1976 }
1977 
1978 /** Set r_wrist_yaw value.
1979  * Right wrist yaw
1980  * @param new_r_wrist_yaw new r_wrist_yaw value
1981  */
1982 void
1984 {
1985  data->r_wrist_yaw = new_r_wrist_yaw;
1986 }
1987 
1988 /** Get r_hand value.
1989  * Right hand
1990  * @return r_hand value
1991  */
1992 float
1994 {
1995  return data->r_hand;
1996 }
1997 
1998 /** Get maximum length of r_hand value.
1999  * @return length of r_hand value, can be length of the array or number of
2000  * maximum number of characters for a string
2001  */
2002 size_t
2004 {
2005  return 1;
2006 }
2007 
2008 /** Set r_hand value.
2009  * Right hand
2010  * @param new_r_hand new r_hand value
2011  */
2012 void
2014 {
2015  data->r_hand = new_r_hand;
2016 }
2017 
2018 /** Get r_hip_yaw_pitch value.
2019  * Right hip yaw pitch
2020  * @return r_hip_yaw_pitch value
2021  */
2022 float
2024 {
2025  return data->r_hip_yaw_pitch;
2026 }
2027 
2028 /** Get maximum length of r_hip_yaw_pitch value.
2029  * @return length of r_hip_yaw_pitch value, can be length of the array or number of
2030  * maximum number of characters for a string
2031  */
2032 size_t
2034 {
2035  return 1;
2036 }
2037 
2038 /** Set r_hip_yaw_pitch value.
2039  * Right hip yaw pitch
2040  * @param new_r_hip_yaw_pitch new r_hip_yaw_pitch value
2041  */
2042 void
2044 {
2045  data->r_hip_yaw_pitch = new_r_hip_yaw_pitch;
2046 }
2047 
2048 /** Get r_hip_roll value.
2049  * Right hip roll
2050  * @return r_hip_roll value
2051  */
2052 float
2054 {
2055  return data->r_hip_roll;
2056 }
2057 
2058 /** Get maximum length of r_hip_roll value.
2059  * @return length of r_hip_roll value, can be length of the array or number of
2060  * maximum number of characters for a string
2061  */
2062 size_t
2064 {
2065  return 1;
2066 }
2067 
2068 /** Set r_hip_roll value.
2069  * Right hip roll
2070  * @param new_r_hip_roll new r_hip_roll value
2071  */
2072 void
2074 {
2075  data->r_hip_roll = new_r_hip_roll;
2076 }
2077 
2078 /** Get r_hip_pitch value.
2079  * Right hip pitch
2080  * @return r_hip_pitch value
2081  */
2082 float
2084 {
2085  return data->r_hip_pitch;
2086 }
2087 
2088 /** Get maximum length of r_hip_pitch value.
2089  * @return length of r_hip_pitch value, can be length of the array or number of
2090  * maximum number of characters for a string
2091  */
2092 size_t
2094 {
2095  return 1;
2096 }
2097 
2098 /** Set r_hip_pitch value.
2099  * Right hip pitch
2100  * @param new_r_hip_pitch new r_hip_pitch value
2101  */
2102 void
2104 {
2105  data->r_hip_pitch = new_r_hip_pitch;
2106 }
2107 
2108 /** Get r_knee_pitch value.
2109  * Right knee pitch
2110  * @return r_knee_pitch value
2111  */
2112 float
2114 {
2115  return data->r_knee_pitch;
2116 }
2117 
2118 /** Get maximum length of r_knee_pitch value.
2119  * @return length of r_knee_pitch value, can be length of the array or number of
2120  * maximum number of characters for a string
2121  */
2122 size_t
2124 {
2125  return 1;
2126 }
2127 
2128 /** Set r_knee_pitch value.
2129  * Right knee pitch
2130  * @param new_r_knee_pitch new r_knee_pitch value
2131  */
2132 void
2134 {
2135  data->r_knee_pitch = new_r_knee_pitch;
2136 }
2137 
2138 /** Get r_ankle_pitch value.
2139  * Right ankle pitch
2140  * @return r_ankle_pitch value
2141  */
2142 float
2144 {
2145  return data->r_ankle_pitch;
2146 }
2147 
2148 /** Get maximum length of r_ankle_pitch value.
2149  * @return length of r_ankle_pitch value, can be length of the array or number of
2150  * maximum number of characters for a string
2151  */
2152 size_t
2154 {
2155  return 1;
2156 }
2157 
2158 /** Set r_ankle_pitch value.
2159  * Right ankle pitch
2160  * @param new_r_ankle_pitch new r_ankle_pitch value
2161  */
2162 void
2164 {
2165  data->r_ankle_pitch = new_r_ankle_pitch;
2166 }
2167 
2168 /** Get r_ankle_roll value.
2169  * Right ankle roll
2170  * @return r_ankle_roll value
2171  */
2172 float
2174 {
2175  return data->r_ankle_roll;
2176 }
2177 
2178 /** Get maximum length of r_ankle_roll value.
2179  * @return length of r_ankle_roll value, can be length of the array or number of
2180  * maximum number of characters for a string
2181  */
2182 size_t
2184 {
2185  return 1;
2186 }
2187 
2188 /** Set r_ankle_roll value.
2189  * Right ankle roll
2190  * @param new_r_ankle_roll new r_ankle_roll value
2191  */
2192 void
2194 {
2195  data->r_ankle_roll = new_r_ankle_roll;
2196 }
2197 
2198 /** Get r_elbow_roll value.
2199  * Right elbow roll
2200  * @return r_elbow_roll value
2201  */
2202 float
2204 {
2205  return data->r_elbow_roll;
2206 }
2207 
2208 /** Get maximum length of r_elbow_roll value.
2209  * @return length of r_elbow_roll value, can be length of the array or number of
2210  * maximum number of characters for a string
2211  */
2212 size_t
2214 {
2215  return 1;
2216 }
2217 
2218 /** Set r_elbow_roll value.
2219  * Right elbow roll
2220  * @param new_r_elbow_roll new r_elbow_roll value
2221  */
2222 void
2224 {
2225  data->r_elbow_roll = new_r_elbow_roll;
2226 }
2227 
2228 /** Clone this message.
2229  * Produces a message of the same type as this message and copies the
2230  * data to the new message.
2231  * @return clone of this message
2232  */
2233 Message *
2235 {
2237 }
2238 /** Check if message is valid and can be enqueued.
2239  * @param message Message to check
2240  * @return true if the message is valid, false otherwise.
2241  */
2242 bool
2244 {
2245  const SetStiffnessMessage *m0 = dynamic_cast<const SetStiffnessMessage *>(message);
2246  if ( m0 != NULL ) {
2247  return true;
2248  }
2249  const SetBodyStiffnessMessage *m1 = dynamic_cast<const SetBodyStiffnessMessage *>(message);
2250  if ( m1 != NULL ) {
2251  return true;
2252  }
2253  const SetStiffnessesMessage *m2 = dynamic_cast<const SetStiffnessesMessage *>(message);
2254  if ( m2 != NULL ) {
2255  return true;
2256  }
2257  return false;
2258 }
2259 
2260 /// @cond INTERNALS
2261 EXPORT_INTERFACE(NaoJointStiffnessInterface)
2262 /// @endcond
2263 
2264 
2265 } // end namespace fawkes
size_t maxlenof_r_hip_yaw_pitch() const
Get maximum length of r_hip_yaw_pitch value.
size_t maxlenof_l_elbow_yaw() const
Get maximum length of l_elbow_yaw value.
void set_l_shoulder_pitch(const float new_l_shoulder_pitch)
Set l_shoulder_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_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.
void * data_ptr
Pointer to memory that contains local data.
Definition: message.h:114
size_t maxlenof_time_sec() const
Get maximum length of time_sec value.
void set_r_hip_pitch(const float new_r_hip_pitch)
Set r_hip_pitch value.
size_t maxlenof_r_elbow_roll() const
Get maximum length of r_elbow_roll value.
Base class for all messages passed through interfaces in Fawkes BlackBoard.
Definition: message.h:43
float r_shoulder_pitch() const
Get r_shoulder_pitch value.
void set_l_hip_roll(const float new_l_hip_roll)
Set l_hip_roll value.
size_t maxlenof_l_hip_pitch() const
Get maximum length of l_hip_pitch value.
void set_l_ankle_pitch(const float new_l_ankle_pitch)
Set l_ankle_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.
size_t maxlenof_l_knee_pitch() const
Get maximum length of l_knee_pitch value.
void set_hash(unsigned char *ihash)
Set hash.
Definition: interface.cpp:312
Fawkes library namespace.
float r_wrist_yaw() const
Get r_wrist_yaw value.
Timestamp data, must be present and first entries for each interface data structs! This leans on time...
Definition: message.h:119
size_t maxlenof_r_hip_yaw_pitch() const
Get maximum length of r_hip_yaw_pitch value.
unsigned int data_size
Minimal data size to hold data storage.
Definition: interface.h:207
void set_r_hip_yaw_pitch(const float new_r_hip_yaw_pitch)
Set r_hip_yaw_pitch value.
float l_elbow_yaw() const
Get l_elbow_yaw value.
size_t maxlenof_head_pitch() const
Get maximum length of head_pitch value.
float r_elbow_roll() const
Get r_elbow_roll value.
float r_ankle_pitch() const
Get r_ankle_pitch value.
void set_r_elbow_roll(const float new_r_elbow_roll)
Set r_elbow_roll value.
size_t maxlenof_minimum() const
Get maximum length of minimum value.
void set_head_pitch(const float new_head_pitch)
Set head_pitch value.
size_t maxlenof_head_yaw() const
Get maximum length of head_yaw value.
size_t maxlenof_r_hand() const
Get maximum length of r_hand value.
void set_l_hip_roll(const float new_l_hip_roll)
Set l_hip_roll value.
void set_l_ankle_roll(const float new_l_ankle_roll)
Set l_ankle_roll value.
size_t maxlenof_r_hip_roll() const
Get maximum length of r_hip_roll value.
float l_ankle_roll() const
Get l_ankle_roll value.
void set_r_shoulder_pitch(const float new_r_shoulder_pitch)
Set r_shoulder_pitch value.
size_t maxlenof_l_shoulder_roll() const
Get maximum length of l_shoulder_roll value.
SetBodyStiffnessMessage Fawkes BlackBoard Interface Message.
void set_head_yaw(const float new_head_yaw)
Set head_yaw value.
size_t maxlenof_head_pitch() const
Get maximum length of head_pitch value.
float r_ankle_roll() const
Get r_ankle_roll value.
float r_hip_yaw_pitch() const
Get r_hip_yaw_pitch value.
Base class for all Fawkes BlackBoard interfaces.
Definition: interface.h:80
NaoJointStiffnessInterface Fawkes BlackBoard Interface.
float r_hand() const
Get r_hand value.
size_t maxlenof_l_hand() const
Get maximum length of l_hand value.
float l_wrist_yaw() const
Get l_wrist_yaw value.
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.
size_t maxlenof_servo() const
Get maximum length of servo value.
size_t maxlenof_l_ankle_roll() const
Get maximum length of l_ankle_roll value.
size_t maxlenof_r_hip_roll() const
Get maximum length of r_hip_roll value.
void set_l_hip_yaw_pitch(const float new_l_hip_yaw_pitch)
Set l_hip_yaw_pitch value.
float l_shoulder_roll() const
Get l_shoulder_roll value.
size_t maxlenof_r_shoulder_pitch() const
Get maximum length of r_shoulder_pitch value.
void set_l_hip_pitch(const float new_l_hip_pitch)
Set l_hip_pitch value.
size_t maxlenof_l_hip_pitch() const
Get maximum length of l_hip_pitch value.
size_t maxlenof_l_hand() const
Get maximum length of l_hand value.
void set_r_knee_pitch(const float new_r_knee_pitch)
Set r_knee_pitch value.
message_data_ts_t * data_ts
data timestamp aliasing pointer
Definition: message.h:123
unsigned int data_size
Size of memory needed to hold all data.
Definition: message.h:115
size_t maxlenof_l_ankle_pitch() const
Get maximum length of l_ankle_pitch value.
void set_time_sec(const float new_time_sec)
Set time_sec 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.
void add_messageinfo(const char *name)
Add an entry to the message info list.
Definition: interface.cpp:368
float l_ankle_pitch() const
Get l_ankle_pitch value.
bool data_changed
Indicator if data has changed.
Definition: interface.h:208
float r_hip_pitch() const
Get r_hip_pitch value.
float r_shoulder_roll() const
Get r_shoulder_roll value.
void set_r_elbow_yaw(const float new_r_elbow_yaw)
Set r_elbow_yaw value.
size_t maxlenof_r_ankle_roll() const
Get maximum length of r_ankle_roll value.
size_t maxlenof_time_sec() const
Get maximum length of time_sec value.
void * data_ptr
Pointer to local memory storage.
Definition: interface.h:206
void set_r_shoulder_roll(const float new_r_shoulder_roll)
Set r_shoulder_roll value.
size_t maxlenof_r_knee_pitch() const
Get maximum length of r_knee_pitch value.
size_t maxlenof_time_sec() const
Get maximum length of time_sec value.
void set_time_sec(const float new_time_sec)
Set time_sec value.
size_t maxlenof_l_wrist_yaw() const
Get maximum length of l_wrist_yaw value.
size_t maxlenof_r_shoulder_roll() const
Get maximum length of r_shoulder_roll value.
void set_l_elbow_yaw(const float new_l_elbow_yaw)
Set l_elbow_yaw value.
void set_r_ankle_pitch(const float new_r_ankle_pitch)
Set r_ankle_pitch value.
float r_knee_pitch() const
Get r_knee_pitch value.
float l_shoulder_pitch() const
Get l_shoulder_pitch value.
float minimum() const
Get minimum value.
size_t maxlenof_r_elbow_roll() const
Get maximum length of r_elbow_roll value.
size_t maxlenof_l_shoulder_roll() const
Get maximum length of l_shoulder_roll value.
float l_knee_pitch() const
Get l_knee_pitch value.
SetStiffnessesMessage Fawkes BlackBoard Interface Message.
void set_r_wrist_yaw(const float new_r_wrist_yaw)
Set r_wrist_yaw value.
size_t maxlenof_l_hip_yaw_pitch() const
Get maximum length of l_hip_yaw_pitch 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.
size_t maxlenof_l_wrist_yaw() const
Get maximum length of l_wrist_yaw value.
void add_fieldinfo(interface_fieldtype_t type, const char *name, size_t length, void *value, const char *enumtype=0)
Add an entry to the field info list.
Definition: interface.cpp:332
void set_r_hip_pitch(const float new_r_hip_pitch)
Set r_hip_pitch value.
float l_hip_pitch() const
Get l_hip_pitch value.
size_t maxlenof_l_knee_pitch() const
Get maximum length of l_knee_pitch value.
size_t maxlenof_l_ankle_roll() const
Get maximum length of l_ankle_roll value.
size_t maxlenof_l_elbow_roll() const
Get maximum length of l_elbow_roll value.
float field
Definition: types.h:43
void set_l_knee_pitch(const float new_l_knee_pitch)
Set l_knee_pitch value.
virtual bool message_valid(const Message *message) const
Check if message is valid and can be enqueued.
void set_l_hip_yaw_pitch(const float new_l_hip_yaw_pitch)
Set l_hip_yaw_pitch value.
float r_hip_roll() const
Get r_hip_roll value.
size_t maxlenof_l_elbow_roll() const
Get maximum length of l_elbow_roll value.
void set_l_wrist_yaw(const float new_l_wrist_yaw)
Set l_wrist_yaw value.
float l_hip_yaw_pitch() const
Get l_hip_yaw_pitch value.
void set_head_pitch(const float new_head_pitch)
Set head_pitch value.
virtual Message * create_message(const char *type) const
Create message based on type name.
float l_hand() const
Get l_hand value.
float r_elbow_yaw() const
Get r_elbow_yaw value.
size_t maxlenof_r_ankle_pitch() const
Get maximum length of r_ankle_pitch 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_r_hip_roll(const float new_r_hip_roll)
Set r_hip_roll value.
size_t maxlenof_l_elbow_yaw() const
Get maximum length of l_elbow_yaw value.
float head_yaw() const
Get head_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_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.
size_t maxlenof_r_elbow_yaw() const
Get maximum length of r_elbow_yaw value.
void set_l_hip_pitch(const float new_l_hip_pitch)
Set l_hip_pitch value.
void set_l_shoulder_roll(const float new_l_shoulder_roll)
Set l_shoulder_roll value.
void set_l_shoulder_pitch(const float new_l_shoulder_pitch)
Set l_shoulder_pitch value.
void set_l_knee_pitch(const float new_l_knee_pitch)
Set l_knee_pitch value.
void set_servo(const uint32_t new_servo)
Set servo value.
void add_fieldinfo(interface_fieldtype_t type, const char *name, size_t length, void *value, const char *enumtype=0)
Add an entry to the info list.
Definition: message.cpp:435
void set_l_wrist_yaw(const float new_l_wrist_yaw)
Set l_wrist_yaw value.
void set_l_elbow_roll(const float new_l_elbow_roll)
Set l_elbow_roll value.
void set_r_shoulder_roll(const float new_r_shoulder_roll)
Set r_shoulder_roll value.
virtual void copy_values(const Interface *other)
Copy values from other interface.
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.
size_t maxlenof_r_ankle_roll() const
Get maximum length of r_ankle_roll value.
void set_r_wrist_yaw(const float new_r_wrist_yaw)
Set r_wrist_yaw value.
void set_r_hip_roll(const float new_r_hip_roll)
Set r_hip_roll value.
void set_l_elbow_yaw(const float new_l_elbow_yaw)
Set l_elbow_yaw value.
interface_data_ts_t * data_ts
Pointer to data casted to timestamp struct.
Definition: interface.h:216
void set_r_ankle_roll(const float new_r_ankle_roll)
Set r_ankle_roll value.
size_t maxlenof_r_shoulder_pitch() const
Get maximum length of r_shoulder_pitch value.
size_t maxlenof_l_shoulder_pitch() const
Get maximum length of l_shoulder_pitch value.
void set_l_hand(const float new_l_hand)
Set l_hand value.
size_t maxlenof_head_yaw() const
Get maximum length of head_yaw value.
void set_minimum(const float new_minimum)
Set minimum value.
size_t maxlenof_l_hip_yaw_pitch() const
Get maximum length of l_hip_yaw_pitch value.
SetStiffnessMessage Fawkes BlackBoard Interface Message.
float l_hip_roll() const
Get l_hip_roll value.
const char * type() const
Get type of interface.
Definition: interface.cpp:635
float head_pitch() const
Get head_pitch value.
size_t maxlenof_r_knee_pitch() const
Get maximum length of r_knee_pitch value.
virtual const char * enum_tostring(const char *enumtype, int val) const
Convert arbitrary enum value to string.
void set_head_yaw(const float new_head_yaw)
Set head_yaw value.
void set_l_ankle_pitch(const float new_l_ankle_pitch)
Set l_ankle_pitch value.
void set_r_hip_yaw_pitch(const float new_r_hip_yaw_pitch)
Set r_hip_yaw_pitch value.
32 bit unsigned integer field
Definition: types.h:40
void set_r_ankle_roll(const float new_r_ankle_roll)
Set r_ankle_roll value.
float l_elbow_roll() const
Get l_elbow_roll value.
size_t maxlenof_l_hip_roll() const
Get maximum length of l_hip_roll value.
void set_l_shoulder_roll(const float new_l_shoulder_roll)
Set l_shoulder_roll value.
void set_l_ankle_roll(const float new_l_ankle_roll)
Set l_ankle_roll value.
size_t maxlenof_r_hip_pitch() const
Get maximum length of r_hip_pitch value.