Fawkes API
Fawkes Development Version
|
24 #ifndef _INTERFACES_JACOBIMANUALINTERFACE_H_
25 #define _INTERFACES_JACOBIMANUALINTERFACE_H_
27 #include <interface/interface.h>
28 #include <interface/message.h>
29 #include <interface/field_iterator.h>
33 class JacoBimanualInterface :
public Interface
36 INTERFACE_MGMT_FRIENDS(JacoBimanualInterface)
48 int64_t timestamp_sec;
49 int64_t timestamp_usec;
59 } JacoBimanualInterface_data_t;
61 JacoBimanualInterface_data_t *data;
65 class CartesianGotoMessage :
public Message
70 int64_t timestamp_sec;
71 int64_t timestamp_usec;
84 } CartesianGotoMessage_data_t;
86 CartesianGotoMessage_data_t *data;
89 CartesianGotoMessage(
const float ini_l_x,
const float ini_l_y,
const float ini_l_z,
const float ini_l_e1,
const float ini_l_e2,
const float ini_l_e3,
const float ini_r_x,
const float ini_r_y,
const float ini_r_z,
const float ini_r_e1,
const float ini_r_e2,
const float ini_r_e3);
96 void set_l_x(
const float new_l_x);
99 void set_l_y(
const float new_l_y);
102 void set_l_z(
const float new_l_z);
105 void set_l_e1(
const float new_l_e1);
108 void set_l_e2(
const float new_l_e2);
111 void set_l_e3(
const float new_l_e3);
114 void set_r_x(
const float new_r_x);
117 void set_r_y(
const float new_r_y);
120 void set_r_z(
const float new_r_z);
123 void set_r_e1(
const float new_r_e1);
126 void set_r_e2(
const float new_r_e2);
129 void set_r_e3(
const float new_r_e3);
134 class MoveGripperMessage :
public Message
139 int64_t timestamp_sec;
140 int64_t timestamp_usec;
147 } MoveGripperMessage_data_t;
149 MoveGripperMessage_data_t *data;
152 MoveGripperMessage(
const float ini_l_finger1,
const float ini_l_finger2,
const float ini_l_finger3,
const float ini_r_finger1,
const float ini_r_finger2,
const float ini_r_finger3);
179 class SetPlannerParamsMessage :
public Message
184 int64_t timestamp_sec;
185 int64_t timestamp_usec;
187 } SetPlannerParamsMessage_data_t;
189 SetPlannerParamsMessage_data_t *data;
209 int64_t timestamp_sec;
210 int64_t timestamp_usec;
213 } SetConstrainedMessage_data_t;
215 SetConstrainedMessage_data_t *data;
237 uint32_t
msgid()
const;
238 void set_msgid(
const uint32_t new_msgid);
252 virtual const char *
enum_tostring(
const char *enumtype,
int val)
const;
~CartesianGotoMessage()
Destructor.
void set_r_e1(const float new_r_e1)
Set r_e1 value.
void set_final(const bool new_final)
Set final value.
void set_l_e2(const float new_l_e2)
Set l_e2 value.
bool is_constrained() const
Get constrained value.
virtual Message * create_message(const char *type) const
size_t maxlenof_l_finger1() const
Get maximum length of l_finger1 value.
void set_r_e2(const float new_r_e2)
Set r_e2 value.
float r_finger3() const
Get r_finger3 value.
void set_error_code(const uint32_t new_error_code)
Set error_code value.
size_t maxlenof_constrained() const
Get maximum length of constrained value.
size_t maxlenof_params() const
Get maximum length of params value.
static const uint32_t ERROR_PLANNING
ERROR_PLANNING constant.
SetConstrainedMessage()
Constructor.
float r_finger2() const
Get r_finger2 value.
float r_e1() const
Get r_e1 value.
~SetConstrainedMessage()
Destructor.
void set_r_finger2(const float new_r_finger2)
Set r_finger2 value.
static const uint32_t ERROR_UNSPECIFIC
ERROR_UNSPECIFIC constant.
virtual const char * enum_tostring(const char *enumtype, int val) const
void set_l_z(const float new_l_z)
Set l_z value.
void set_r_x(const float new_r_x)
Set r_x value.
size_t maxlenof_r_z() const
Get maximum length of r_z value.
bool is_final() const
Get final value.
float l_e2() const
Get l_e2 value.
size_t maxlenof_r_x() const
Get maximum length of r_x value.
char * params() const
Get params value.
size_t maxlenof_error_code() const
Get maximum length of error_code value.
float r_x() const
Get r_x value.
size_t maxlenof_r_e1() const
Get maximum length of r_e1 value.
size_t maxlenof_l_e1() const
Get maximum length of l_e1 value.
float r_e2() const
Get r_e2 value.
size_t maxlenof_r_e3() const
Get maximum length of r_e3 value.
float l_e1() const
Get l_e1 value.
float l_finger1() const
Get l_finger1 value.
const char * type() const
Get type of interface.
void set_l_finger1(const float new_l_finger1)
Set l_finger1 value.
void set_l_y(const float new_l_y)
Set l_y value.
float r_z() const
Get r_z value.
SetPlannerParamsMessage()
Constructor.
size_t maxlenof_l_y() const
Get maximum length of l_y value.
MoveGripperMessage()
Constructor.
void set_msgid(const uint32_t new_msgid)
Set msgid value.
size_t maxlenof_l_z() const
Get maximum length of l_z value.
uint32_t error_code() const
Get error_code value.
bool is_constrained() const
Get constrained value.
size_t maxlenof_constrained() const
Get maximum length of constrained value.
void set_params(const char *new_params)
Set params value.
virtual Message * clone() const
Clone this message.
float l_x() const
Get l_x value.
virtual Message * clone() const
Clone this message.
float r_e3() const
Get r_e3 value.
float r_y() const
Get r_y value.
void set_l_x(const float new_l_x)
Set l_x value.
float l_finger2() const
Get l_finger2 value.
static const uint32_t ERROR_NONE
ERROR_NONE constant.
uint32_t msgid() const
Get msgid value.
void set_r_y(const float new_r_y)
Set r_y value.
virtual Message * clone() const
Clone this message.
void set_constrained(const bool new_constrained)
Set constrained value.
size_t maxlenof_r_finger3() const
Get maximum length of r_finger3 value.
size_t maxlenof_l_x() const
Get maximum length of l_x value.
virtual bool message_valid(const Message *message) const
Check if message is valid and can be enqueued.
size_t maxlenof_l_finger2() const
Get maximum length of l_finger2 value.
size_t maxlenof_r_finger2() const
Get maximum length of r_finger2 value.
size_t maxlenof_l_e2() const
Get maximum length of l_e2 value.
size_t maxlenof_l_e3() const
Get maximum length of l_e3 value.
float l_e3() const
Get l_e3 value.
static const uint32_t ERROR_NO_IK
ERROR_NO_IK constant.
size_t maxlenof_r_finger1() const
Get maximum length of r_finger1 value.
float r_finger1() const
Get r_finger1 value.
void set_l_e3(const float new_l_e3)
Set l_e3 value.
~MoveGripperMessage()
Destructor.
virtual Message * clone() const
Clone this message.
size_t maxlenof_msgid() const
Get maximum length of msgid value.
void set_constrained(const bool new_constrained)
Set constrained value.
float l_z() const
Get l_z value.
void set_r_z(const float new_r_z)
Set r_z value.
void set_l_finger3(const float new_l_finger3)
Set l_finger3 value.
size_t maxlenof_final() const
Get maximum length of final value.
CartesianGotoMessage()
Constructor.
size_t maxlenof_r_e2() const
Get maximum length of r_e2 value.
void set_l_e1(const float new_l_e1)
Set l_e1 value.
void set_r_finger3(const float new_r_finger3)
Set r_finger3 value.
size_t maxlenof_r_y() const
Get maximum length of r_y value.
float l_finger3() const
Get l_finger3 value.
size_t maxlenof_l_finger3() const
Get maximum length of l_finger3 value.
void set_r_finger1(const float new_r_finger1)
Set r_finger1 value.
void set_r_e3(const float new_r_e3)
Set r_e3 value.
float l_y() const
Get l_y value.
virtual void copy_values(const Interface *other)
Copy values from other interface.
~SetPlannerParamsMessage()
Destructor.
void set_l_finger2(const float new_l_finger2)
Set l_finger2 value.