Fawkes API  Fawkes Development Version
HumanoidMotionInterface.h
1 
2 /***************************************************************************
3  * HumanoidMotionInterface.h - Fawkes BlackBoard Interface - HumanoidMotionInterface
4  *
5  * Templated created: Thu Oct 12 10:49:19 2006
6  * Copyright 2008 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_HUMANOIDMOTIONINTERFACE_H_
25 #define _INTERFACES_HUMANOIDMOTIONINTERFACE_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(HumanoidMotionInterface)
37  /// @endcond
38  public:
39  /* constants */
40 
41  /** Type to determinate leg side. */
42  typedef enum {
43  LEG_LEFT /**< Left leg. */,
44  LEG_RIGHT /**< Right leg. */
46  const char * tostring_LegEnum(LegEnum value) const;
47 
48  /** From which position to standup. */
49  typedef enum {
50  STANDUP_DETECT /**< Detect via accelerometer. */,
51  STANDUP_BACK /**< Standup from lying on the back. */,
52  STANDUP_FRONT /**< Standup from lying on the tummy. */
54  const char * tostring_StandupEnum(StandupEnum value) const;
55 
56  private:
57  /** Internal data storage, do NOT modify! */
58  typedef struct {
59  int64_t timestamp_sec; /**< Interface Unix timestamp, seconds */
60  int64_t timestamp_usec; /**< Interface Unix timestamp, micro-seconds */
61  bool moving; /**< True if the robot is moving. */
62  bool arms_enabled; /**<
63  If true the arms are controlled during walking for balancing.
64  */
65  uint32_t msgid; /**<
66  The ID of the message that is currently being
67  processed, or 0 if no message is being processed.
68  */
69  } HumanoidMotionInterface_data_t;
70 
71  HumanoidMotionInterface_data_t *data;
72 
73  interface_enum_map_t enum_map_LegEnum;
74  interface_enum_map_t enum_map_StandupEnum;
75  public:
76  /* messages */
77  class StopMessage : public Message
78  {
79  private:
80  /** Internal data storage, do NOT modify! */
81  typedef struct {
82  int64_t timestamp_sec; /**< Interface Unix timestamp, seconds */
83  int64_t timestamp_usec; /**< Interface Unix timestamp, micro-seconds */
84  } StopMessage_data_t;
85 
86  StopMessage_data_t *data;
87 
88  interface_enum_map_t enum_map_LegEnum;
89  interface_enum_map_t enum_map_StandupEnum;
90  public:
91  StopMessage();
92  ~StopMessage();
93 
94  explicit StopMessage(const StopMessage *m);
95  /* Methods */
96  virtual Message * clone() const;
97  };
98 
100  {
101  private:
102  /** Internal data storage, do NOT modify! */
103  typedef struct {
104  int64_t timestamp_sec; /**< Interface Unix timestamp, seconds */
105  int64_t timestamp_usec; /**< Interface Unix timestamp, micro-seconds */
106  float distance; /**< Distance in m to walk. */
107  } WalkStraightMessage_data_t;
108 
109  WalkStraightMessage_data_t *data;
110 
111  interface_enum_map_t enum_map_LegEnum;
112  interface_enum_map_t enum_map_StandupEnum;
113  public:
114  WalkStraightMessage(const float ini_distance);
117 
118  explicit WalkStraightMessage(const WalkStraightMessage *m);
119  /* Methods */
120  float distance() const;
121  void set_distance(const float new_distance);
122  size_t maxlenof_distance() const;
123  virtual Message * clone() const;
124  };
125 
127  {
128  private:
129  /** Internal data storage, do NOT modify! */
130  typedef struct {
131  int64_t timestamp_sec; /**< Interface Unix timestamp, seconds */
132  int64_t timestamp_usec; /**< Interface Unix timestamp, micro-seconds */
133  float distance; /**< Distance in m to walk. */
134  } WalkSidewaysMessage_data_t;
135 
136  WalkSidewaysMessage_data_t *data;
137 
138  interface_enum_map_t enum_map_LegEnum;
139  interface_enum_map_t enum_map_StandupEnum;
140  public:
141  WalkSidewaysMessage(const float ini_distance);
144 
145  explicit WalkSidewaysMessage(const WalkSidewaysMessage *m);
146  /* Methods */
147  float distance() const;
148  void set_distance(const float new_distance);
149  size_t maxlenof_distance() const;
150  virtual Message * clone() const;
151  };
152 
153  class WalkArcMessage : public Message
154  {
155  private:
156  /** Internal data storage, do NOT modify! */
157  typedef struct {
158  int64_t timestamp_sec; /**< Interface Unix timestamp, seconds */
159  int64_t timestamp_usec; /**< Interface Unix timestamp, micro-seconds */
160  float angle; /**< Angle in radians to turn over the way. */
161  float radius; /**< Radius in m of the circle in m. */
162  } WalkArcMessage_data_t;
163 
164  WalkArcMessage_data_t *data;
165 
166  interface_enum_map_t enum_map_LegEnum;
167  interface_enum_map_t enum_map_StandupEnum;
168  public:
169  WalkArcMessage(const float ini_angle, const float ini_radius);
170  WalkArcMessage();
171  ~WalkArcMessage();
172 
173  explicit WalkArcMessage(const WalkArcMessage *m);
174  /* Methods */
175  float angle() const;
176  void set_angle(const float new_angle);
177  size_t maxlenof_angle() const;
178  float radius() const;
179  void set_radius(const float new_radius);
180  size_t maxlenof_radius() const;
181  virtual Message * clone() const;
182  };
183 
185  {
186  private:
187  /** Internal data storage, do NOT modify! */
188  typedef struct {
189  int64_t timestamp_sec; /**< Interface Unix timestamp, seconds */
190  int64_t timestamp_usec; /**< Interface Unix timestamp, micro-seconds */
191  float x; /**<
192  Fraction of MaxStepX. Use negative for backwards. [-1.0 to 1.0].
193  */
194  float y; /**<
195  Fraction of MaxStepY. Use negative for right. [-1.0 to 1.0].
196  */
197  float theta; /**<
198  Fraction of MaxStepTheta. Use negative for clockwise [-1.0 to 1.0].
199  */
200  float speed; /**<
201  Fraction of MaxStepFrequency [0.0 to 1.0].
202  */
203  } WalkVelocityMessage_data_t;
204 
205  WalkVelocityMessage_data_t *data;
206 
207  interface_enum_map_t enum_map_LegEnum;
208  interface_enum_map_t enum_map_StandupEnum;
209  public:
210  WalkVelocityMessage(const float ini_x, const float ini_y, const float ini_theta, const float ini_speed);
213 
214  explicit WalkVelocityMessage(const WalkVelocityMessage *m);
215  /* Methods */
216  float x() const;
217  void set_x(const float new_x);
218  size_t maxlenof_x() const;
219  float y() const;
220  void set_y(const float new_y);
221  size_t maxlenof_y() const;
222  float theta() const;
223  void set_theta(const float new_theta);
224  size_t maxlenof_theta() const;
225  float speed() const;
226  void set_speed(const float new_speed);
227  size_t maxlenof_speed() const;
228  virtual Message * clone() const;
229  };
230 
231  class TurnMessage : public Message
232  {
233  private:
234  /** Internal data storage, do NOT modify! */
235  typedef struct {
236  int64_t timestamp_sec; /**< Interface Unix timestamp, seconds */
237  int64_t timestamp_usec; /**< Interface Unix timestamp, micro-seconds */
238  float angle; /**< Angle in radians to turn. */
239  } TurnMessage_data_t;
240 
241  TurnMessage_data_t *data;
242 
243  interface_enum_map_t enum_map_LegEnum;
244  interface_enum_map_t enum_map_StandupEnum;
245  public:
246  TurnMessage(const float ini_angle);
247  TurnMessage();
248  ~TurnMessage();
249 
250  explicit TurnMessage(const TurnMessage *m);
251  /* Methods */
252  float angle() const;
253  void set_angle(const float new_angle);
254  size_t maxlenof_angle() const;
255  virtual Message * clone() const;
256  };
257 
258  class KickMessage : public Message
259  {
260  private:
261  /** Internal data storage, do NOT modify! */
262  typedef struct {
263  int64_t timestamp_sec; /**< Interface Unix timestamp, seconds */
264  int64_t timestamp_usec; /**< Interface Unix timestamp, micro-seconds */
265  int32_t leg; /**< Leg to kick with */
266  float strength; /**< Kick strength */
267  } KickMessage_data_t;
268 
269  KickMessage_data_t *data;
270 
271  interface_enum_map_t enum_map_LegEnum;
272  interface_enum_map_t enum_map_StandupEnum;
273  public:
274  KickMessage(const LegEnum ini_leg, const float ini_strength);
275  KickMessage();
276  ~KickMessage();
277 
278  explicit KickMessage(const KickMessage *m);
279  /* Methods */
280  LegEnum leg() const;
281  void set_leg(const LegEnum new_leg);
282  size_t maxlenof_leg() const;
283  float strength() const;
284  void set_strength(const float new_strength);
285  size_t maxlenof_strength() const;
286  virtual Message * clone() const;
287  };
288 
289  class ParkMessage : public Message
290  {
291  private:
292  /** Internal data storage, do NOT modify! */
293  typedef struct {
294  int64_t timestamp_sec; /**< Interface Unix timestamp, seconds */
295  int64_t timestamp_usec; /**< Interface Unix timestamp, micro-seconds */
296  } ParkMessage_data_t;
297 
298  ParkMessage_data_t *data;
299 
300  interface_enum_map_t enum_map_LegEnum;
301  interface_enum_map_t enum_map_StandupEnum;
302  public:
303  ParkMessage();
304  ~ParkMessage();
305 
306  explicit ParkMessage(const ParkMessage *m);
307  /* Methods */
308  virtual Message * clone() const;
309  };
310 
311  class GetUpMessage : public Message
312  {
313  private:
314  /** Internal data storage, do NOT modify! */
315  typedef struct {
316  int64_t timestamp_sec; /**< Interface Unix timestamp, seconds */
317  int64_t timestamp_usec; /**< Interface Unix timestamp, micro-seconds */
318  } GetUpMessage_data_t;
319 
320  GetUpMessage_data_t *data;
321 
322  interface_enum_map_t enum_map_LegEnum;
323  interface_enum_map_t enum_map_StandupEnum;
324  public:
325  GetUpMessage();
326  ~GetUpMessage();
327 
328  explicit GetUpMessage(const GetUpMessage *m);
329  /* Methods */
330  virtual Message * clone() const;
331  };
332 
333  class StandupMessage : public Message
334  {
335  private:
336  /** Internal data storage, do NOT modify! */
337  typedef struct {
338  int64_t timestamp_sec; /**< Interface Unix timestamp, seconds */
339  int64_t timestamp_usec; /**< Interface Unix timestamp, micro-seconds */
340  int32_t from_pos; /**< Position from where to standup. */
341  } StandupMessage_data_t;
342 
343  StandupMessage_data_t *data;
344 
345  interface_enum_map_t enum_map_LegEnum;
346  interface_enum_map_t enum_map_StandupEnum;
347  public:
348  StandupMessage(const StandupEnum ini_from_pos);
349  StandupMessage();
350  ~StandupMessage();
351 
352  explicit StandupMessage(const StandupMessage *m);
353  /* Methods */
354  StandupEnum from_pos() const;
355  void set_from_pos(const StandupEnum new_from_pos);
356  size_t maxlenof_from_pos() const;
357  virtual Message * clone() const;
358  };
359 
360  class MoveHeadMessage : public Message
361  {
362  private:
363  /** Internal data storage, do NOT modify! */
364  typedef struct {
365  int64_t timestamp_sec; /**< Interface Unix timestamp, seconds */
366  int64_t timestamp_usec; /**< Interface Unix timestamp, micro-seconds */
367  float yaw; /**< Desired yaw (horizontal orientation). */
368  float pitch; /**< Desired pitch (vertical orientation). */
369  float speed; /**< Maximum speed in [0.0..1.0]. */
370  } MoveHeadMessage_data_t;
371 
372  MoveHeadMessage_data_t *data;
373 
374  interface_enum_map_t enum_map_LegEnum;
375  interface_enum_map_t enum_map_StandupEnum;
376  public:
377  MoveHeadMessage(const float ini_yaw, const float ini_pitch, const float ini_speed);
378  MoveHeadMessage();
380 
381  explicit MoveHeadMessage(const MoveHeadMessage *m);
382  /* Methods */
383  float yaw() const;
384  void set_yaw(const float new_yaw);
385  size_t maxlenof_yaw() const;
386  float pitch() const;
387  void set_pitch(const float new_pitch);
388  size_t maxlenof_pitch() const;
389  float speed() const;
390  void set_speed(const float new_speed);
391  size_t maxlenof_speed() const;
392  virtual Message * clone() const;
393  };
394 
395  virtual bool message_valid(const Message *message) const;
396  private:
399 
400  public:
401  /* Methods */
402  bool is_moving() const;
403  void set_moving(const bool new_moving);
404  size_t maxlenof_moving() const;
405  bool is_arms_enabled() const;
406  void set_arms_enabled(const bool new_arms_enabled);
407  size_t maxlenof_arms_enabled() const;
408  uint32_t msgid() const;
409  void set_msgid(const uint32_t new_msgid);
410  size_t maxlenof_msgid() const;
411  virtual Message * create_message(const char *type) const;
412 
413  virtual void copy_values(const Interface *other);
414  virtual const char * enum_tostring(const char *enumtype, int val) const;
415 
416 };
417 
418 } // end namespace fawkes
419 
420 #endif
fawkes::HumanoidMotionInterface::KickMessage
KickMessage Fawkes BlackBoard Interface Message.
Definition: HumanoidMotionInterface.h:259
fawkes::HumanoidMotionInterface::KickMessage::set_leg
void set_leg(const LegEnum new_leg)
Set leg value.
Definition: HumanoidMotionInterface.cpp:1061
fawkes::HumanoidMotionInterface::TurnMessage::angle
float angle() const
Get angle value.
Definition: HumanoidMotionInterface.cpp:937
fawkes::HumanoidMotionInterface::tostring_LegEnum
const char * tostring_LegEnum(LegEnum value) const
Convert LegEnum constant to string.
Definition: HumanoidMotionInterface.cpp:86
fawkes::HumanoidMotionInterface::maxlenof_arms_enabled
size_t maxlenof_arms_enabled() const
Get maximum length of arms_enabled value.
Definition: HumanoidMotionInterface.cpp:156
fawkes::HumanoidMotionInterface::STANDUP_BACK
@ STANDUP_BACK
Standup from lying on the back.
Definition: HumanoidMotionInterface.h:51
fawkes::HumanoidMotionInterface::WalkSidewaysMessage::set_distance
void set_distance(const float new_distance)
Set distance value.
Definition: HumanoidMotionInterface.cpp:505
fawkes::HumanoidMotionInterface::TurnMessage
TurnMessage Fawkes BlackBoard Interface Message.
Definition: HumanoidMotionInterface.h:232
fawkes::HumanoidMotionInterface::WalkStraightMessage
WalkStraightMessage Fawkes BlackBoard Interface Message.
Definition: HumanoidMotionInterface.h:100
fawkes::HumanoidMotionInterface::WalkVelocityMessage::set_speed
void set_speed(const float new_speed)
Set speed value.
Definition: HumanoidMotionInterface.cpp:857
fawkes::HumanoidMotionInterface::WalkVelocityMessage::theta
float theta() const
Get theta value.
Definition: HumanoidMotionInterface.cpp:801
fawkes::HumanoidMotionInterface::StandupMessage
StandupMessage Fawkes BlackBoard Interface Message.
Definition: HumanoidMotionInterface.h:334
fawkes::HumanoidMotionInterface::tostring_StandupEnum
const char * tostring_StandupEnum(StandupEnum value) const
Convert StandupEnum constant to string.
Definition: HumanoidMotionInterface.cpp:99
fawkes::HumanoidMotionInterface::message_valid
virtual bool message_valid(const Message *message) const
Check if message is valid and can be enqueued.
Definition: HumanoidMotionInterface.cpp:1481
fawkes::HumanoidMotionInterface::LEG_RIGHT
@ LEG_RIGHT
Right leg.
Definition: HumanoidMotionInterface.h:44
fawkes::HumanoidMotionInterface::GetUpMessage::~GetUpMessage
~GetUpMessage()
Destructor.
Definition: HumanoidMotionInterface.cpp:1180
fawkes::HumanoidMotionInterface::WalkSidewaysMessage::distance
float distance() const
Get distance value.
Definition: HumanoidMotionInterface.cpp:485
fawkes::Message
Base class for all messages passed through interfaces in Fawkes BlackBoard.
Definition: message.h:45
fawkes::HumanoidMotionInterface::StandupMessage::maxlenof_from_pos
size_t maxlenof_from_pos() const
Get maximum length of from_pos value.
Definition: HumanoidMotionInterface.cpp:1283
fawkes::HumanoidMotionInterface::WalkVelocityMessage::maxlenof_x
size_t maxlenof_x() const
Get maximum length of x value.
Definition: HumanoidMotionInterface.cpp:743
fawkes::HumanoidMotionInterface::WalkStraightMessage::WalkStraightMessage
WalkStraightMessage()
Constructor.
Definition: HumanoidMotionInterface.cpp:346
fawkes::HumanoidMotionInterface::LEG_LEFT
@ LEG_LEFT
Left leg.
Definition: HumanoidMotionInterface.h:43
fawkes::HumanoidMotionInterface::GetUpMessage::GetUpMessage
GetUpMessage()
Constructor.
Definition: HumanoidMotionInterface.cpp:1165
fawkes::HumanoidMotionInterface::StandupMessage::set_from_pos
void set_from_pos(const StandupEnum new_from_pos)
Set from_pos value.
Definition: HumanoidMotionInterface.cpp:1293
fawkes::HumanoidMotionInterface::WalkVelocityMessage::x
float x() const
Get x value.
Definition: HumanoidMotionInterface.cpp:733
fawkes::HumanoidMotionInterface::set_msgid
void set_msgid(const uint32_t new_msgid)
Set msgid value.
Definition: HumanoidMotionInterface.cpp:204
fawkes::HumanoidMotionInterface::maxlenof_msgid
size_t maxlenof_msgid() const
Get maximum length of msgid value.
Definition: HumanoidMotionInterface.cpp:191
fawkes::HumanoidMotionInterface::ParkMessage::clone
virtual Message * clone() const
Clone this message.
Definition: HumanoidMotionInterface.cpp:1153
fawkes::HumanoidMotionInterface::is_arms_enabled
bool is_arms_enabled() const
Get arms_enabled value.
Definition: HumanoidMotionInterface.cpp:146
fawkes::HumanoidMotionInterface::MoveHeadMessage
MoveHeadMessage Fawkes BlackBoard Interface Message.
Definition: HumanoidMotionInterface.h:361
fawkes::Interface::type
const char * type() const
Get type of interface.
Definition: interface.cpp:643
fawkes::HumanoidMotionInterface::msgid
uint32_t msgid() const
Get msgid value.
Definition: HumanoidMotionInterface.cpp:181
fawkes::HumanoidMotionInterface::MoveHeadMessage::maxlenof_speed
size_t maxlenof_speed() const
Get maximum length of speed value.
Definition: HumanoidMotionInterface.cpp:1451
fawkes::HumanoidMotionInterface::STANDUP_FRONT
@ STANDUP_FRONT
Standup from lying on the tummy.
Definition: HumanoidMotionInterface.h:52
fawkes::HumanoidMotionInterface::WalkStraightMessage::set_distance
void set_distance(const float new_distance)
Set distance value.
Definition: HumanoidMotionInterface.cpp:405
fawkes::HumanoidMotionInterface::STANDUP_DETECT
@ STANDUP_DETECT
Detect via accelerometer.
Definition: HumanoidMotionInterface.h:50
fawkes::HumanoidMotionInterface::KickMessage::~KickMessage
~KickMessage()
Destructor.
Definition: HumanoidMotionInterface.cpp:1018
fawkes::HumanoidMotionInterface::WalkStraightMessage::~WalkStraightMessage
~WalkStraightMessage()
Destructor.
Definition: HumanoidMotionInterface.cpp:362
fawkes::HumanoidMotionInterface::MoveHeadMessage::MoveHeadMessage
MoveHeadMessage()
Constructor.
Definition: HumanoidMotionInterface.cpp:1340
fawkes::HumanoidMotionInterface::WalkStraightMessage::maxlenof_distance
size_t maxlenof_distance() const
Get maximum length of distance value.
Definition: HumanoidMotionInterface.cpp:395
fawkes::HumanoidMotionInterface::KickMessage::strength
float strength() const
Get strength value.
Definition: HumanoidMotionInterface.cpp:1071
fawkes::HumanoidMotionInterface::WalkStraightMessage::distance
float distance() const
Get distance value.
Definition: HumanoidMotionInterface.cpp:385
fawkes::HumanoidMotionInterface::create_message
virtual Message * create_message(const char *type) const
Create message based on type name.
Definition: HumanoidMotionInterface.cpp:211
fawkes::HumanoidMotionInterface::WalkArcMessage::set_angle
void set_angle(const float new_angle)
Set angle value.
Definition: HumanoidMotionInterface.cpp:609
fawkes::HumanoidMotionInterface::WalkArcMessage::radius
float radius() const
Get radius value.
Definition: HumanoidMotionInterface.cpp:619
fawkes::HumanoidMotionInterface::WalkSidewaysMessage::WalkSidewaysMessage
WalkSidewaysMessage()
Constructor.
Definition: HumanoidMotionInterface.cpp:446
fawkes::HumanoidMotionInterface::LegEnum
LegEnum
Type to determinate leg side.
Definition: HumanoidMotionInterface.h:42
fawkes::HumanoidMotionInterface::MoveHeadMessage::yaw
float yaw() const
Get yaw value.
Definition: HumanoidMotionInterface.cpp:1381
fawkes::HumanoidMotionInterface::copy_values
virtual void copy_values(const Interface *other)
Copy values from other interface.
Definition: HumanoidMotionInterface.cpp:246
fawkes::HumanoidMotionInterface::WalkVelocityMessage::set_y
void set_y(const float new_y)
Set y value.
Definition: HumanoidMotionInterface.cpp:789
fawkes::HumanoidMotionInterface::WalkVelocityMessage::set_theta
void set_theta(const float new_theta)
Set theta value.
Definition: HumanoidMotionInterface.cpp:823
fawkes::HumanoidMotionInterface::WalkVelocityMessage::speed
float speed() const
Get speed value.
Definition: HumanoidMotionInterface.cpp:835
fawkes::HumanoidMotionInterface::StopMessage::StopMessage
StopMessage()
Constructor.
Definition: HumanoidMotionInterface.cpp:277
fawkes::HumanoidMotionInterface::WalkVelocityMessage::maxlenof_theta
size_t maxlenof_theta() const
Get maximum length of theta value.
Definition: HumanoidMotionInterface.cpp:811
fawkes::HumanoidMotionInterface::WalkVelocityMessage::WalkVelocityMessage
WalkVelocityMessage()
Constructor.
Definition: HumanoidMotionInterface.cpp:689
fawkes::HumanoidMotionInterface::WalkSidewaysMessage::clone
virtual Message * clone() const
Clone this message.
Definition: HumanoidMotionInterface.cpp:516
fawkes::HumanoidMotionInterface::WalkVelocityMessage::set_x
void set_x(const float new_x)
Set x value.
Definition: HumanoidMotionInterface.cpp:755
fawkes::HumanoidMotionInterface::MoveHeadMessage::set_yaw
void set_yaw(const float new_yaw)
Set yaw value.
Definition: HumanoidMotionInterface.cpp:1401
fawkes::HumanoidMotionInterface::StandupMessage::clone
virtual Message * clone() const
Clone this message.
Definition: HumanoidMotionInterface.cpp:1304
fawkes::HumanoidMotionInterface
HumanoidMotionInterface Fawkes BlackBoard Interface.
Definition: HumanoidMotionInterface.h:34
fawkes::HumanoidMotionInterface::TurnMessage::TurnMessage
TurnMessage()
Constructor.
Definition: HumanoidMotionInterface.cpp:898
fawkes::HumanoidMotionInterface::TurnMessage::clone
virtual Message * clone() const
Clone this message.
Definition: HumanoidMotionInterface.cpp:968
fawkes
Fawkes library namespace.
fawkes::HumanoidMotionInterface::MoveHeadMessage::set_pitch
void set_pitch(const float new_pitch)
Set pitch value.
Definition: HumanoidMotionInterface.cpp:1431
fawkes::HumanoidMotionInterface::is_moving
bool is_moving() const
Get moving value.
Definition: HumanoidMotionInterface.cpp:114
fawkes::HumanoidMotionInterface::WalkArcMessage::angle
float angle() const
Get angle value.
Definition: HumanoidMotionInterface.cpp:589
fawkes::HumanoidMotionInterface::MoveHeadMessage::pitch
float pitch() const
Get pitch value.
Definition: HumanoidMotionInterface.cpp:1411
fawkes::HumanoidMotionInterface::StandupMessage::from_pos
StandupEnum from_pos() const
Get from_pos value.
Definition: HumanoidMotionInterface.cpp:1273
fawkes::HumanoidMotionInterface::set_moving
void set_moving(const bool new_moving)
Set moving value.
Definition: HumanoidMotionInterface.cpp:134
fawkes::HumanoidMotionInterface::WalkArcMessage::maxlenof_angle
size_t maxlenof_angle() const
Get maximum length of angle value.
Definition: HumanoidMotionInterface.cpp:599
fawkes::HumanoidMotionInterface::GetUpMessage
GetUpMessage Fawkes BlackBoard Interface Message.
Definition: HumanoidMotionInterface.h:312
fawkes::HumanoidMotionInterface::StandupEnum
StandupEnum
From which position to standup.
Definition: HumanoidMotionInterface.h:49
fawkes::HumanoidMotionInterface::WalkSidewaysMessage::maxlenof_distance
size_t maxlenof_distance() const
Get maximum length of distance value.
Definition: HumanoidMotionInterface.cpp:495
fawkes::HumanoidMotionInterface::MoveHeadMessage::~MoveHeadMessage
~MoveHeadMessage()
Destructor.
Definition: HumanoidMotionInterface.cpp:1358
fawkes::HumanoidMotionInterface::MoveHeadMessage::maxlenof_pitch
size_t maxlenof_pitch() const
Get maximum length of pitch value.
Definition: HumanoidMotionInterface.cpp:1421
fawkes::HumanoidMotionInterface::MoveHeadMessage::set_speed
void set_speed(const float new_speed)
Set speed value.
Definition: HumanoidMotionInterface.cpp:1461
fawkes::HumanoidMotionInterface::set_arms_enabled
void set_arms_enabled(const bool new_arms_enabled)
Set arms_enabled value.
Definition: HumanoidMotionInterface.cpp:168
fawkes::HumanoidMotionInterface::WalkVelocityMessage::y
float y() const
Get y value.
Definition: HumanoidMotionInterface.cpp:767
fawkes::HumanoidMotionInterface::ParkMessage::~ParkMessage
~ParkMessage()
Destructor.
Definition: HumanoidMotionInterface.cpp:1129
fawkes::HumanoidMotionInterface::WalkArcMessage
WalkArcMessage Fawkes BlackBoard Interface Message.
Definition: HumanoidMotionInterface.h:154
fawkes::Interface
Base class for all Fawkes BlackBoard interfaces.
Definition: interface.h:79
fawkes::HumanoidMotionInterface::KickMessage::clone
virtual Message * clone() const
Clone this message.
Definition: HumanoidMotionInterface.cpp:1102
fawkes::HumanoidMotionInterface::StandupMessage::~StandupMessage
~StandupMessage()
Destructor.
Definition: HumanoidMotionInterface.cpp:1250
fawkes::HumanoidMotionInterface::maxlenof_moving
size_t maxlenof_moving() const
Get maximum length of moving value.
Definition: HumanoidMotionInterface.cpp:124
fawkes::HumanoidMotionInterface::MoveHeadMessage::maxlenof_yaw
size_t maxlenof_yaw() const
Get maximum length of yaw value.
Definition: HumanoidMotionInterface.cpp:1391
fawkes::interface_enum_map_t
std::map< int, std::string > interface_enum_map_t
Map of enum integer to string values.
Definition: types.h:54
fawkes::HumanoidMotionInterface::MoveHeadMessage::clone
virtual Message * clone() const
Clone this message.
Definition: HumanoidMotionInterface.cpp:1472
fawkes::HumanoidMotionInterface::WalkSidewaysMessage
WalkSidewaysMessage Fawkes BlackBoard Interface Message.
Definition: HumanoidMotionInterface.h:127
fawkes::HumanoidMotionInterface::WalkArcMessage::WalkArcMessage
WalkArcMessage()
Constructor.
Definition: HumanoidMotionInterface.cpp:549
fawkes::HumanoidMotionInterface::WalkArcMessage::clone
virtual Message * clone() const
Clone this message.
Definition: HumanoidMotionInterface.cpp:650
fawkes::HumanoidMotionInterface::WalkVelocityMessage::~WalkVelocityMessage
~WalkVelocityMessage()
Destructor.
Definition: HumanoidMotionInterface.cpp:708
fawkes::HumanoidMotionInterface::KickMessage::leg
LegEnum leg() const
Get leg value.
Definition: HumanoidMotionInterface.cpp:1041
fawkes::HumanoidMotionInterface::WalkSidewaysMessage::~WalkSidewaysMessage
~WalkSidewaysMessage()
Destructor.
Definition: HumanoidMotionInterface.cpp:462
fawkes::HumanoidMotionInterface::WalkStraightMessage::clone
virtual Message * clone() const
Clone this message.
Definition: HumanoidMotionInterface.cpp:416
fawkes::HumanoidMotionInterface::WalkVelocityMessage::maxlenof_y
size_t maxlenof_y() const
Get maximum length of y value.
Definition: HumanoidMotionInterface.cpp:777
fawkes::HumanoidMotionInterface::ParkMessage
ParkMessage Fawkes BlackBoard Interface Message.
Definition: HumanoidMotionInterface.h:290
fawkes::HumanoidMotionInterface::WalkVelocityMessage::maxlenof_speed
size_t maxlenof_speed() const
Get maximum length of speed value.
Definition: HumanoidMotionInterface.cpp:845
fawkes::HumanoidMotionInterface::KickMessage::maxlenof_leg
size_t maxlenof_leg() const
Get maximum length of leg value.
Definition: HumanoidMotionInterface.cpp:1051
fawkes::HumanoidMotionInterface::KickMessage::set_strength
void set_strength(const float new_strength)
Set strength value.
Definition: HumanoidMotionInterface.cpp:1091
fawkes::HumanoidMotionInterface::KickMessage::maxlenof_strength
size_t maxlenof_strength() const
Get maximum length of strength value.
Definition: HumanoidMotionInterface.cpp:1081
fawkes::HumanoidMotionInterface::TurnMessage::set_angle
void set_angle(const float new_angle)
Set angle value.
Definition: HumanoidMotionInterface.cpp:957
fawkes::HumanoidMotionInterface::enum_tostring
virtual const char * enum_tostring(const char *enumtype, int val) const
Convert arbitrary enum value to string.
Definition: HumanoidMotionInterface.cpp:257
fawkes::HumanoidMotionInterface::StopMessage::~StopMessage
~StopMessage()
Destructor.
Definition: HumanoidMotionInterface.cpp:292
fawkes::HumanoidMotionInterface::ParkMessage::ParkMessage
ParkMessage()
Constructor.
Definition: HumanoidMotionInterface.cpp:1114
fawkes::HumanoidMotionInterface::StandupMessage::StandupMessage
StandupMessage()
Constructor.
Definition: HumanoidMotionInterface.cpp:1234
fawkes::HumanoidMotionInterface::StopMessage
StopMessage Fawkes BlackBoard Interface Message.
Definition: HumanoidMotionInterface.h:78
fawkes::HumanoidMotionInterface::MoveHeadMessage::speed
float speed() const
Get speed value.
Definition: HumanoidMotionInterface.cpp:1441
fawkes::HumanoidMotionInterface::WalkVelocityMessage
WalkVelocityMessage Fawkes BlackBoard Interface Message.
Definition: HumanoidMotionInterface.h:185
fawkes::HumanoidMotionInterface::WalkVelocityMessage::clone
virtual Message * clone() const
Clone this message.
Definition: HumanoidMotionInterface.cpp:868
fawkes::HumanoidMotionInterface::WalkArcMessage::set_radius
void set_radius(const float new_radius)
Set radius value.
Definition: HumanoidMotionInterface.cpp:639
fawkes::HumanoidMotionInterface::WalkArcMessage::maxlenof_radius
size_t maxlenof_radius() const
Get maximum length of radius value.
Definition: HumanoidMotionInterface.cpp:629
fawkes::HumanoidMotionInterface::WalkArcMessage::~WalkArcMessage
~WalkArcMessage()
Destructor.
Definition: HumanoidMotionInterface.cpp:566
fawkes::HumanoidMotionInterface::StopMessage::clone
virtual Message * clone() const
Clone this message.
Definition: HumanoidMotionInterface.cpp:316
fawkes::HumanoidMotionInterface::TurnMessage::maxlenof_angle
size_t maxlenof_angle() const
Get maximum length of angle value.
Definition: HumanoidMotionInterface.cpp:947
fawkes::HumanoidMotionInterface::GetUpMessage::clone
virtual Message * clone() const
Clone this message.
Definition: HumanoidMotionInterface.cpp:1204
fawkes::HumanoidMotionInterface::KickMessage::KickMessage
KickMessage()
Constructor.
Definition: HumanoidMotionInterface.cpp:1001
fawkes::HumanoidMotionInterface::TurnMessage::~TurnMessage
~TurnMessage()
Destructor.
Definition: HumanoidMotionInterface.cpp:914