24 #ifndef _INTERFACES_HUMANOIDMOTIONINTERFACE_H_ 25 #define _INTERFACES_HUMANOIDMOTIONINTERFACE_H_ 27 #include <interface/interface.h> 28 #include <interface/message.h> 29 #include <interface/field_iterator.h> 58 typedef struct __attribute__((packed)) {
59 int64_t timestamp_sec;
60 int64_t timestamp_usec;
69 } HumanoidMotionInterface_data_t;
71 HumanoidMotionInterface_data_t *data;
81 typedef struct __attribute__((packed)) {
82 int64_t timestamp_sec;
83 int64_t timestamp_usec;
86 StopMessage_data_t *data;
103 typedef struct __attribute__((packed)) {
104 int64_t timestamp_sec;
105 int64_t timestamp_usec;
107 } WalkStraightMessage_data_t;
109 WalkStraightMessage_data_t *data;
130 typedef struct __attribute__((packed)) {
131 int64_t timestamp_sec;
132 int64_t timestamp_usec;
134 } WalkSidewaysMessage_data_t;
136 WalkSidewaysMessage_data_t *data;
157 typedef struct __attribute__((packed)) {
158 int64_t timestamp_sec;
159 int64_t timestamp_usec;
162 } WalkArcMessage_data_t;
164 WalkArcMessage_data_t *data;
188 typedef struct __attribute__((packed)) {
189 int64_t timestamp_sec;
190 int64_t timestamp_usec;
203 } WalkVelocityMessage_data_t;
205 WalkVelocityMessage_data_t *data;
210 WalkVelocityMessage(
const float ini_x,
const float ini_y,
const float ini_theta,
const float ini_speed);
217 void set_x(
const float new_x);
220 void set_y(
const float new_y);
235 typedef struct __attribute__((packed)) {
236 int64_t timestamp_sec;
237 int64_t timestamp_usec;
239 } TurnMessage_data_t;
241 TurnMessage_data_t *data;
262 typedef struct __attribute__((packed)) {
263 int64_t timestamp_sec;
264 int64_t timestamp_usec;
267 } KickMessage_data_t;
269 KickMessage_data_t *data;
293 typedef struct __attribute__((packed)) {
294 int64_t timestamp_sec;
295 int64_t timestamp_usec;
296 } ParkMessage_data_t;
298 ParkMessage_data_t *data;
315 typedef struct __attribute__((packed)) {
316 int64_t timestamp_sec;
317 int64_t timestamp_usec;
318 } GetUpMessage_data_t;
320 GetUpMessage_data_t *data;
337 typedef struct __attribute__((packed)) {
338 int64_t timestamp_sec;
339 int64_t timestamp_usec;
341 } StandupMessage_data_t;
343 StandupMessage_data_t *data;
364 typedef struct __attribute__((packed)) {
365 int64_t timestamp_sec;
366 int64_t timestamp_usec;
370 } MoveHeadMessage_data_t;
372 MoveHeadMessage_data_t *data;
377 MoveHeadMessage(
const float ini_yaw,
const float ini_pitch,
const float ini_speed);
384 void set_yaw(
const float new_yaw);
408 uint32_t
msgid()
const;
409 void set_msgid(
const uint32_t new_msgid);
414 virtual const char *
enum_tostring(
const char *enumtype,
int val)
const;
uint32_t msgid() const
Get msgid value.
void set_theta(const float new_theta)
Set theta value.
~GetUpMessage()
Destructor.
float speed() const
Get speed value.
~StopMessage()
Destructor.
Base class for all messages passed through interfaces in Fawkes BlackBoard.
StandupMessage Fawkes BlackBoard Interface Message.
void set_angle(const float new_angle)
Set angle value.
TurnMessage Fawkes BlackBoard Interface Message.
Standup from lying on the back.
virtual Message * create_message(const char *type) const
Create message based on type name.
KickMessage Fawkes BlackBoard Interface Message.
~WalkSidewaysMessage()
Destructor.
~StandupMessage()
Destructor.
void set_x(const float new_x)
Set x value.
GetUpMessage()
Constructor.
StopMessage()
Constructor.
virtual Message * clone() const
Clone this message.
size_t maxlenof_theta() const
Get maximum length of theta value.
WalkArcMessage()
Constructor.
size_t maxlenof_strength() const
Get maximum length of strength value.
float distance() const
Get distance value.
Fawkes library namespace.
void set_arms_enabled(const bool new_arms_enabled)
Set arms_enabled value.
float angle() const
Get angle value.
float yaw() const
Get yaw value.
LegEnum leg() const
Get leg value.
size_t maxlenof_x() const
Get maximum length of x value.
bool is_moving() const
Get moving value.
float angle() const
Get angle value.
~TurnMessage()
Destructor.
void set_speed(const float new_speed)
Set speed value.
size_t maxlenof_msgid() const
Get maximum length of msgid value.
float theta() const
Get theta value.
virtual bool message_valid(const Message *message) const
Check if message is valid and can be enqueued.
size_t maxlenof_y() const
Get maximum length of y value.
WalkVelocityMessage Fawkes BlackBoard Interface Message.
size_t maxlenof_speed() const
Get maximum length of speed value.
TurnMessage()
Constructor.
void set_moving(const bool new_moving)
Set moving value.
GetUpMessage Fawkes BlackBoard Interface Message.
void set_pitch(const float new_pitch)
Set pitch value.
~MoveHeadMessage()
Destructor.
StandupEnum
From which position to standup.
Base class for all Fawkes BlackBoard interfaces.
size_t maxlenof_speed() const
Get maximum length of speed value.
size_t maxlenof_pitch() const
Get maximum length of pitch value.
size_t maxlenof_yaw() const
Get maximum length of yaw value.
~WalkArcMessage()
Destructor.
~WalkStraightMessage()
Destructor.
LegEnum
Type to determinate leg side.
void set_distance(const float new_distance)
Set distance value.
virtual Message * clone() const
Clone this message.
StandupMessage()
Constructor.
size_t maxlenof_radius() const
Get maximum length of radius value.
virtual const char * enum_tostring(const char *enumtype, int val) const
Convert arbitrary enum value to string.
virtual Message * clone() const
Clone this message.
size_t maxlenof_angle() const
Get maximum length of angle value.
void set_msgid(const uint32_t new_msgid)
Set msgid value.
virtual Message * clone() const
Clone this message.
virtual Message * clone() const
Clone this message.
size_t maxlenof_angle() const
Get maximum length of angle value.
WalkArcMessage Fawkes BlackBoard Interface Message.
const char * type() const
Get type of interface.
HumanoidMotionInterface Fawkes BlackBoard Interface.
Standup from lying on the tummy.
size_t maxlenof_leg() const
Get maximum length of leg value.
float y() const
Get y value.
size_t maxlenof_from_pos() const
Get maximum length of from_pos value.
size_t maxlenof_moving() const
Get maximum length of moving value.
bool is_arms_enabled() const
Get arms_enabled value.
StandupEnum from_pos() const
Get from_pos value.
Detect via accelerometer.
~WalkVelocityMessage()
Destructor.
MoveHeadMessage()
Constructor.
virtual Message * clone() const
Clone this message.
void set_radius(const float new_radius)
Set radius value.
void set_speed(const float new_speed)
Set speed value.
float distance() const
Get distance value.
WalkSidewaysMessage Fawkes BlackBoard Interface Message.
size_t maxlenof_arms_enabled() const
Get maximum length of arms_enabled value.
const char * tostring_LegEnum(LegEnum value) const
Convert LegEnum constant to string.
const char * tostring_StandupEnum(StandupEnum value) const
Convert StandupEnum constant to string.
virtual void copy_values(const Interface *other)
Copy values from other interface.
KickMessage()
Constructor.
size_t maxlenof_distance() const
Get maximum length of distance value.
float x() const
Get x value.
float pitch() const
Get pitch value.
~KickMessage()
Destructor.
void set_yaw(const float new_yaw)
Set yaw value.
float strength() const
Get strength value.
ParkMessage()
Constructor.
WalkStraightMessage()
Constructor.
void set_from_pos(const StandupEnum new_from_pos)
Set from_pos value.
WalkVelocityMessage()
Constructor.
ParkMessage Fawkes BlackBoard Interface Message.
WalkStraightMessage Fawkes BlackBoard Interface Message.
virtual Message * clone() const
Clone this message.
virtual Message * clone() const
Clone this message.
~ParkMessage()
Destructor.
void set_distance(const float new_distance)
Set distance value.
WalkSidewaysMessage()
Constructor.
virtual Message * clone() const
Clone this message.
MoveHeadMessage Fawkes BlackBoard Interface Message.
void set_strength(const float new_strength)
Set strength value.
StopMessage Fawkes BlackBoard Interface Message.
virtual Message * clone() const
Clone this message.
void set_angle(const float new_angle)
Set angle value.
void set_y(const float new_y)
Set y value.
size_t maxlenof_distance() const
Get maximum length of distance value.
std::map< int, std::string > interface_enum_map_t
Map of enum integer to string values.
float radius() const
Get radius value.
virtual Message * clone() const
Clone this message.
void set_leg(const LegEnum new_leg)
Set leg value.
float speed() const
Get speed value.