24 #ifndef __INTERFACES_KATANAINTERFACE_H_
25 #define __INTERFACES_KATANAINTERFACE_H_
27 #include <interface/interface.h>
28 #include <interface/message.h>
29 #include <interface/field_iterator.h>
67 int64_t timestamp_sec;
68 int64_t timestamp_usec;
93 } KatanaInterface_data_t;
96 KatanaInterface_data_t *data;
106 int64_t timestamp_sec;
107 int64_t timestamp_usec;
108 } StopMessage_data_t;
111 StopMessage_data_t *data;
128 int64_t timestamp_sec;
129 int64_t timestamp_usec;
130 } FlushMessage_data_t;
133 FlushMessage_data_t *data;
150 int64_t timestamp_sec;
151 int64_t timestamp_usec;
152 } ParkMessage_data_t;
155 ParkMessage_data_t *data;
172 int64_t timestamp_sec;
173 int64_t timestamp_usec;
191 } LinearGotoMessage_data_t;
194 LinearGotoMessage_data_t *data;
197 LinearGotoMessage(
const float ini_theta_error,
const float ini_offset_xy,
const bool ini_straight,
const char * ini_trans_frame,
const char * ini_rot_frame,
const float ini_x,
const float ini_y,
const float ini_z,
const float ini_phi,
const float ini_theta,
const float ini_psi);
219 void set_x(
const float new_x);
222 void set_y(
const float new_y);
225 void set_z(
const float new_z);
228 void set_phi(
const float new_phi);
234 void set_psi(
const float new_psi);
245 int64_t timestamp_sec;
246 int64_t timestamp_usec;
256 } LinearGotoKniMessage_data_t;
259 LinearGotoKniMessage_data_t *data;
262 LinearGotoKniMessage(
const float ini_x,
const float ini_y,
const float ini_z,
const float ini_phi,
const float ini_theta,
const float ini_psi);
269 void set_x(
const float new_x);
272 void set_y(
const float new_y);
275 void set_z(
const float new_z);
278 void set_phi(
const float new_phi);
284 void set_psi(
const float new_psi);
295 int64_t timestamp_sec;
296 int64_t timestamp_usec;
299 } ObjectGotoMessage_data_t;
302 ObjectGotoMessage_data_t *data;
326 int64_t timestamp_sec;
327 int64_t timestamp_usec;
328 } CalibrateMessage_data_t;
331 CalibrateMessage_data_t *data;
348 int64_t timestamp_sec;
349 int64_t timestamp_usec;
350 } OpenGripperMessage_data_t;
353 OpenGripperMessage_data_t *data;
370 int64_t timestamp_sec;
371 int64_t timestamp_usec;
372 } CloseGripperMessage_data_t;
375 CloseGripperMessage_data_t *data;
392 int64_t timestamp_sec;
393 int64_t timestamp_usec;
395 } SetEnabledMessage_data_t;
398 SetEnabledMessage_data_t *data;
419 int64_t timestamp_sec;
420 int64_t timestamp_usec;
422 } SetMaxVelocityMessage_data_t;
425 SetMaxVelocityMessage_data_t *data;
446 int64_t timestamp_sec;
447 int64_t timestamp_usec;
450 } SetPlannerParamsMessage_data_t;
453 SetPlannerParamsMessage_data_t *data;
477 int64_t timestamp_sec;
478 int64_t timestamp_usec;
481 } SetMotorEncoderMessage_data_t;
484 SetMotorEncoderMessage_data_t *data;
494 void set_nr(
const uint32_t new_nr);
496 uint32_t
enc()
const;
497 void set_enc(
const uint32_t new_enc);
508 int64_t timestamp_sec;
509 int64_t timestamp_usec;
512 } MoveMotorEncoderMessage_data_t;
515 MoveMotorEncoderMessage_data_t *data;
525 void set_nr(
const uint32_t new_nr);
527 uint32_t
enc()
const;
528 void set_enc(
const uint32_t new_enc);
539 int64_t timestamp_sec;
540 int64_t timestamp_usec;
543 } SetMotorAngleMessage_data_t;
546 SetMotorAngleMessage_data_t *data;
556 void set_nr(
const uint32_t new_nr);
570 int64_t timestamp_sec;
571 int64_t timestamp_usec;
574 } MoveMotorAngleMessage_data_t;
577 MoveMotorAngleMessage_data_t *data;
587 void set_nr(
const uint32_t new_nr);
608 void set_x(
const float new_x);
611 void set_y(
const float new_y);
614 void set_z(
const float new_z);
617 void set_phi(
const float new_phi);
623 void set_psi(
const float new_psi);
626 int32_t
encoders(
unsigned int index)
const;
627 void set_encoders(
unsigned int index,
const int32_t new_encoders);
631 float angles(
unsigned int index)
const;
632 void set_angles(
unsigned int index,
const float new_angles);
635 uint32_t
msgid()
const;
636 void set_msgid(
const uint32_t new_msgid);
659 virtual const char *
enum_tostring(
const char *enumtype,
int val)
const;