Fawkes API  Fawkes Development Version
NaoJointPositionInterface.h
1 
2 /***************************************************************************
3  * NaoJointPositionInterface.h - Fawkes BlackBoard Interface - NaoJointPositionInterface
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 #ifndef _INTERFACES_NAOJOINTPOSITIONINTERFACE_H_
25 #define _INTERFACES_NAOJOINTPOSITIONINTERFACE_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(NaoJointPositionInterface)
37  /// @endcond
38  public:
39  /* constants */
40  static const uint32_t SERVO_head_yaw;
41  static const uint32_t SERVO_head_pitch;
42  static const uint32_t SERVO_l_shoulder_pitch;
43  static const uint32_t SERVO_l_shoulder_roll;
44  static const uint32_t SERVO_l_elbow_yaw;
45  static const uint32_t SERVO_l_elbow_roll;
46  static const uint32_t SERVO_l_wrist_yaw;
47  static const uint32_t SERVO_l_hand;
48  static const uint32_t SERVO_l_hip_yaw_pitch;
49  static const uint32_t SERVO_l_hip_roll;
50  static const uint32_t SERVO_l_hip_pitch;
51  static const uint32_t SERVO_l_knee_pitch;
52  static const uint32_t SERVO_l_ankle_pitch;
53  static const uint32_t SERVO_l_ankle_roll;
54  static const uint32_t SERVO_r_shoulder_pitch;
55  static const uint32_t SERVO_r_shoulder_roll;
56  static const uint32_t SERVO_r_elbow_yaw;
57  static const uint32_t SERVO_r_elbow_roll;
58  static const uint32_t SERVO_r_wrist_yaw;
59  static const uint32_t SERVO_r_hand;
60  static const uint32_t SERVO_r_hip_yaw_pitch;
61  static const uint32_t SERVO_r_hip_roll;
62  static const uint32_t SERVO_r_hip_pitch;
63  static const uint32_t SERVO_r_knee_pitch;
64  static const uint32_t SERVO_r_ankle_pitch;
65  static const uint32_t SERVO_r_ankle_roll;
66  static const uint32_t SERVO_min;
67  static const uint32_t SERVO_max;
68 
69  /**
70  Enumeration describing the actual version of the robot that's being
71  used.
72  */
73  typedef enum {
74  ROBOTYPE_ACADEMIC /**<
75  Academic version with 25 DoF and touch sensors.
76  */,
77  ROBOTYPE_ROBOCUP /**<
78  RoboCup version with 21 DoF.
79  */
81  const char * tostring_RobotType(RobotType value) const;
82 
83  private:
84  /** Internal data storage, do NOT modify! */
85  typedef struct {
86  int64_t timestamp_sec; /**< Interface Unix timestamp, seconds */
87  int64_t timestamp_usec; /**< Interface Unix timestamp, micro-seconds */
88  int32_t robot_type; /**< Robot type. */
89  uint8_t robot_version[4]; /**<
90  Robot version. Fields are in ascending array index major, minor, micro and
91  patch level. Currently only the first two are used by Aldebaran, but due to
92  struct alignment we add two extra bytes.
93  */
94  float head_yaw; /**< Head yaw */
95  float head_pitch; /**< Head pitch */
96  float l_shoulder_pitch; /**< Left shoulder pitch */
97  float l_shoulder_roll; /**< Left shoulder roll */
98  float l_elbow_yaw; /**< Left elbow yaw */
99  float l_elbow_roll; /**< Left elbow roll */
100  float l_wrist_yaw; /**< Left wrist yaw */
101  float l_hand; /**< Left hand */
102  float l_hip_yaw_pitch; /**< Left hip yaw pitch */
103  float l_hip_roll; /**< Left hip roll */
104  float l_hip_pitch; /**< Left hip pitch */
105  float l_knee_pitch; /**< Left knee pitch */
106  float l_ankle_pitch; /**< Left ankle pitch */
107  float l_ankle_roll; /**< Left ankle roll */
108  float r_shoulder_pitch; /**< Right shoulder pitch */
109  float r_shoulder_roll; /**< Right shoulder roll */
110  float r_elbow_yaw; /**< Right elbow yaw */
111  float r_elbow_roll; /**< Right elbow roll */
112  float r_wrist_yaw; /**< Right wrist yaw */
113  float r_hand; /**< Right hand */
114  float r_hip_yaw_pitch; /**< Right hip yaw pitch */
115  float r_hip_roll; /**< Right hip roll */
116  float r_hip_pitch; /**< Right hip pitch */
117  float r_knee_pitch; /**< Right knee pitch */
118  float r_ankle_pitch; /**< Right ankle pitch */
119  float r_ankle_roll; /**< Right ankle roll */
120  int32_t time; /**<
121  Current reference time in ms. For real hardware this is the DCM time.
122  Times in messages are always offsets to the current time and the current
123  time is added before executing the command.
124  */
125  } NaoJointPositionInterface_data_t;
126 
127  NaoJointPositionInterface_data_t *data;
128 
129  interface_enum_map_t enum_map_RobotType;
130  public:
131  /* messages */
132  class SetServoMessage : public Message
133  {
134  private:
135  /** Internal data storage, do NOT modify! */
136  typedef struct {
137  int64_t timestamp_sec; /**< Interface Unix timestamp, seconds */
138  int64_t timestamp_usec; /**< Interface Unix timestamp, micro-seconds */
139  uint32_t servo; /**< A concatenated list of SERVO_* constants to
140  define the servos that should execute the movement. The list shall consist of
141  binary or'ed SERVO_* constants. */
142  float value; /**< Servo value to set for servos. */
143  int32_t time; /**<
144  Current reference time in ms. For real hardware this is the DCM time.
145  Times in messages are always offsets to the current time and the current
146  time is added before executing the command.
147  */
148  } SetServoMessage_data_t;
149 
150  SetServoMessage_data_t *data;
151 
152  interface_enum_map_t enum_map_RobotType;
153  public:
154  SetServoMessage(const uint32_t ini_servo, const float ini_value, const int32_t ini_time);
155  SetServoMessage();
157 
158  explicit SetServoMessage(const SetServoMessage *m);
159  /* Methods */
160  uint32_t servo() const;
161  void set_servo(const uint32_t new_servo);
162  size_t maxlenof_servo() const;
163  float value() const;
164  void set_value(const float new_value);
165  size_t maxlenof_value() const;
166  int32_t time() const;
167  void set_time(const int32_t new_time);
168  size_t maxlenof_time() const;
169  virtual Message * clone() const;
170  };
171 
172  class SetServosMessage : public Message
173  {
174  private:
175  /** Internal data storage, do NOT modify! */
176  typedef struct {
177  int64_t timestamp_sec; /**< Interface Unix timestamp, seconds */
178  int64_t timestamp_usec; /**< Interface Unix timestamp, micro-seconds */
179  float head_yaw; /**< Head yaw */
180  float head_pitch; /**< Head pitch */
181  float l_shoulder_pitch; /**< Left shoulder pitch */
182  float l_shoulder_roll; /**< Left shoulder roll */
183  float l_elbow_yaw; /**< Left elbow yaw */
184  float l_elbow_roll; /**< Left elbow roll */
185  float l_hip_yaw_pitch; /**< Left hip yaw pitch */
186  float l_hip_roll; /**< Left hip roll */
187  float l_hip_pitch; /**< Left hip pitch */
188  float l_knee_pitch; /**< Left knee pitch */
189  float l_ankle_pitch; /**< Left ankle pitch */
190  float l_ankle_roll; /**< Left ankle roll */
191  float l_wrist_yaw; /**< Left wrist yaw */
192  float l_hand; /**< Left hand */
193  float r_shoulder_pitch; /**< Right shoulder pitch */
194  float r_shoulder_roll; /**< Right shoulder roll */
195  float r_elbow_yaw; /**< Right elbow yaw */
196  float r_elbow_roll; /**< Right elbow roll */
197  float r_wrist_yaw; /**< Right wrist yaw */
198  float r_hand; /**< Right hand */
199  float r_hip_yaw_pitch; /**< Right hip yaw pitch */
200  float r_hip_roll; /**< Right hip roll */
201  float r_hip_pitch; /**< Right hip pitch */
202  float r_knee_pitch; /**< Right knee pitch */
203  float r_ankle_pitch; /**< Right ankle pitch */
204  float r_ankle_roll; /**< Right ankle roll */
205  int32_t time; /**<
206  Current reference time in ms. For real hardware this is the DCM time.
207  Times in messages are always offsets to the current time and the current
208  time is added before executing the command.
209  */
210  } SetServosMessage_data_t;
211 
212  SetServosMessage_data_t *data;
213 
214  interface_enum_map_t enum_map_RobotType;
215  public:
216  SetServosMessage(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_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_l_wrist_yaw, const float ini_l_hand, const float ini_r_shoulder_pitch, const float ini_r_shoulder_roll, const float ini_r_elbow_yaw, const float ini_r_elbow_roll, 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 int32_t ini_time);
219 
220  explicit SetServosMessage(const SetServosMessage *m);
221  /* Methods */
222  float head_yaw() const;
223  void set_head_yaw(const float new_head_yaw);
224  size_t maxlenof_head_yaw() const;
225  float head_pitch() const;
226  void set_head_pitch(const float new_head_pitch);
227  size_t maxlenof_head_pitch() const;
228  float l_shoulder_pitch() const;
229  void set_l_shoulder_pitch(const float new_l_shoulder_pitch);
230  size_t maxlenof_l_shoulder_pitch() const;
231  float l_shoulder_roll() const;
232  void set_l_shoulder_roll(const float new_l_shoulder_roll);
233  size_t maxlenof_l_shoulder_roll() const;
234  float l_elbow_yaw() const;
235  void set_l_elbow_yaw(const float new_l_elbow_yaw);
236  size_t maxlenof_l_elbow_yaw() const;
237  float l_elbow_roll() const;
238  void set_l_elbow_roll(const float new_l_elbow_roll);
239  size_t maxlenof_l_elbow_roll() const;
240  float l_hip_yaw_pitch() const;
241  void set_l_hip_yaw_pitch(const float new_l_hip_yaw_pitch);
242  size_t maxlenof_l_hip_yaw_pitch() const;
243  float l_hip_roll() const;
244  void set_l_hip_roll(const float new_l_hip_roll);
245  size_t maxlenof_l_hip_roll() const;
246  float l_hip_pitch() const;
247  void set_l_hip_pitch(const float new_l_hip_pitch);
248  size_t maxlenof_l_hip_pitch() const;
249  float l_knee_pitch() const;
250  void set_l_knee_pitch(const float new_l_knee_pitch);
251  size_t maxlenof_l_knee_pitch() const;
252  float l_ankle_pitch() const;
253  void set_l_ankle_pitch(const float new_l_ankle_pitch);
254  size_t maxlenof_l_ankle_pitch() const;
255  float l_ankle_roll() const;
256  void set_l_ankle_roll(const float new_l_ankle_roll);
257  size_t maxlenof_l_ankle_roll() const;
258  float l_wrist_yaw() const;
259  void set_l_wrist_yaw(const float new_l_wrist_yaw);
260  size_t maxlenof_l_wrist_yaw() const;
261  float l_hand() const;
262  void set_l_hand(const float new_l_hand);
263  size_t maxlenof_l_hand() const;
264  float r_shoulder_pitch() const;
265  void set_r_shoulder_pitch(const float new_r_shoulder_pitch);
266  size_t maxlenof_r_shoulder_pitch() const;
267  float r_shoulder_roll() const;
268  void set_r_shoulder_roll(const float new_r_shoulder_roll);
269  size_t maxlenof_r_shoulder_roll() const;
270  float r_elbow_yaw() const;
271  void set_r_elbow_yaw(const float new_r_elbow_yaw);
272  size_t maxlenof_r_elbow_yaw() const;
273  float r_elbow_roll() const;
274  void set_r_elbow_roll(const float new_r_elbow_roll);
275  size_t maxlenof_r_elbow_roll() const;
276  float r_wrist_yaw() const;
277  void set_r_wrist_yaw(const float new_r_wrist_yaw);
278  size_t maxlenof_r_wrist_yaw() const;
279  float r_hand() const;
280  void set_r_hand(const float new_r_hand);
281  size_t maxlenof_r_hand() const;
282  float r_hip_yaw_pitch() const;
283  void set_r_hip_yaw_pitch(const float new_r_hip_yaw_pitch);
284  size_t maxlenof_r_hip_yaw_pitch() const;
285  float r_hip_roll() const;
286  void set_r_hip_roll(const float new_r_hip_roll);
287  size_t maxlenof_r_hip_roll() const;
288  float r_hip_pitch() const;
289  void set_r_hip_pitch(const float new_r_hip_pitch);
290  size_t maxlenof_r_hip_pitch() const;
291  float r_knee_pitch() const;
292  void set_r_knee_pitch(const float new_r_knee_pitch);
293  size_t maxlenof_r_knee_pitch() const;
294  float r_ankle_pitch() const;
295  void set_r_ankle_pitch(const float new_r_ankle_pitch);
296  size_t maxlenof_r_ankle_pitch() const;
297  float r_ankle_roll() const;
298  void set_r_ankle_roll(const float new_r_ankle_roll);
299  size_t maxlenof_r_ankle_roll() const;
300  int32_t time() const;
301  void set_time(const int32_t new_time);
302  size_t maxlenof_time() const;
303  virtual Message * clone() const;
304  };
305 
306  class MoveServoMessage : public Message
307  {
308  private:
309  /** Internal data storage, do NOT modify! */
310  typedef struct {
311  int64_t timestamp_sec; /**< Interface Unix timestamp, seconds */
312  int64_t timestamp_usec; /**< Interface Unix timestamp, micro-seconds */
313  uint32_t servo; /**<
314  A concatenated list of SERVO_* constants to define the servos
315  that should execute the movement. The list shall consist of
316  binary or'ed SERVO_* constants.
317  */
318  float value; /**< Servo value to set for servos. */
319  float speed; /**<
320  Fraction of max speed in range [0.0..1.0].
321  */
322  } MoveServoMessage_data_t;
323 
324  MoveServoMessage_data_t *data;
325 
326  interface_enum_map_t enum_map_RobotType;
327  public:
328  MoveServoMessage(const uint32_t ini_servo, const float ini_value, const float ini_speed);
331 
332  explicit MoveServoMessage(const MoveServoMessage *m);
333  /* Methods */
334  uint32_t servo() const;
335  void set_servo(const uint32_t new_servo);
336  size_t maxlenof_servo() const;
337  float value() const;
338  void set_value(const float new_value);
339  size_t maxlenof_value() const;
340  float speed() const;
341  void set_speed(const float new_speed);
342  size_t maxlenof_speed() const;
343  virtual Message * clone() const;
344  };
345 
346  class MoveServosMessage : public Message
347  {
348  private:
349  /** Internal data storage, do NOT modify! */
350  typedef struct {
351  int64_t timestamp_sec; /**< Interface Unix timestamp, seconds */
352  int64_t timestamp_usec; /**< Interface Unix timestamp, micro-seconds */
353  float speed; /**<
354  Fraction of max speed in range [0.0..1.0].
355  */
356  float head_yaw; /**< Head yaw */
357  float head_pitch; /**< Head pitch */
358  float l_shoulder_pitch; /**< Left shoulder pitch */
359  float l_shoulder_roll; /**< Left shoulder roll */
360  float l_elbow_yaw; /**< Left elbow yaw */
361  float l_elbow_roll; /**< Left elbow roll */
362  float l_wrist_yaw; /**< Left wrist yaw */
363  float l_hand; /**< Left hand */
364  float l_hip_yaw_pitch; /**< Left hip yaw pitch */
365  float l_hip_roll; /**< Left hip roll */
366  float l_hip_pitch; /**< Left hip pitch */
367  float l_knee_pitch; /**< Left knee pitch */
368  float l_ankle_pitch; /**< Left ankle pitch */
369  float l_ankle_roll; /**< Left ankle roll */
370  float r_shoulder_pitch; /**< Right shoulder pitch */
371  float r_shoulder_roll; /**< Right shoulder roll */
372  float r_elbow_yaw; /**< Right elbow yaw */
373  float r_elbow_roll; /**< Right elbow roll */
374  float r_wrist_yaw; /**< Right wrist yaw */
375  float r_hand; /**< Right hand */
376  float r_hip_yaw_pitch; /**< Right hip yaw pitch */
377  float r_hip_roll; /**< Right hip roll */
378  float r_hip_pitch; /**< Right hip pitch */
379  float r_knee_pitch; /**< Right knee pitch */
380  float r_ankle_pitch; /**< Right ankle pitch */
381  float r_ankle_roll; /**< Right ankle roll */
382  } MoveServosMessage_data_t;
383 
384  MoveServosMessage_data_t *data;
385 
386  interface_enum_map_t enum_map_RobotType;
387  public:
388  MoveServosMessage(const float ini_speed, 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_elbow_roll, 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);
391 
392  explicit MoveServosMessage(const MoveServosMessage *m);
393  /* Methods */
394  float speed() const;
395  void set_speed(const float new_speed);
396  size_t maxlenof_speed() const;
397  float head_yaw() const;
398  void set_head_yaw(const float new_head_yaw);
399  size_t maxlenof_head_yaw() const;
400  float head_pitch() const;
401  void set_head_pitch(const float new_head_pitch);
402  size_t maxlenof_head_pitch() const;
403  float l_shoulder_pitch() const;
404  void set_l_shoulder_pitch(const float new_l_shoulder_pitch);
405  size_t maxlenof_l_shoulder_pitch() const;
406  float l_shoulder_roll() const;
407  void set_l_shoulder_roll(const float new_l_shoulder_roll);
408  size_t maxlenof_l_shoulder_roll() const;
409  float l_elbow_yaw() const;
410  void set_l_elbow_yaw(const float new_l_elbow_yaw);
411  size_t maxlenof_l_elbow_yaw() const;
412  float l_elbow_roll() const;
413  void set_l_elbow_roll(const float new_l_elbow_roll);
414  size_t maxlenof_l_elbow_roll() const;
415  float l_wrist_yaw() const;
416  void set_l_wrist_yaw(const float new_l_wrist_yaw);
417  size_t maxlenof_l_wrist_yaw() const;
418  float l_hand() const;
419  void set_l_hand(const float new_l_hand);
420  size_t maxlenof_l_hand() const;
421  float l_hip_yaw_pitch() const;
422  void set_l_hip_yaw_pitch(const float new_l_hip_yaw_pitch);
423  size_t maxlenof_l_hip_yaw_pitch() const;
424  float l_hip_roll() const;
425  void set_l_hip_roll(const float new_l_hip_roll);
426  size_t maxlenof_l_hip_roll() const;
427  float l_hip_pitch() const;
428  void set_l_hip_pitch(const float new_l_hip_pitch);
429  size_t maxlenof_l_hip_pitch() const;
430  float l_knee_pitch() const;
431  void set_l_knee_pitch(const float new_l_knee_pitch);
432  size_t maxlenof_l_knee_pitch() const;
433  float l_ankle_pitch() const;
434  void set_l_ankle_pitch(const float new_l_ankle_pitch);
435  size_t maxlenof_l_ankle_pitch() const;
436  float l_ankle_roll() const;
437  void set_l_ankle_roll(const float new_l_ankle_roll);
438  size_t maxlenof_l_ankle_roll() const;
439  float r_shoulder_pitch() const;
440  void set_r_shoulder_pitch(const float new_r_shoulder_pitch);
441  size_t maxlenof_r_shoulder_pitch() const;
442  float r_shoulder_roll() const;
443  void set_r_shoulder_roll(const float new_r_shoulder_roll);
444  size_t maxlenof_r_shoulder_roll() const;
445  float r_elbow_yaw() const;
446  void set_r_elbow_yaw(const float new_r_elbow_yaw);
447  size_t maxlenof_r_elbow_yaw() const;
448  float r_elbow_roll() const;
449  void set_r_elbow_roll(const float new_r_elbow_roll);
450  size_t maxlenof_r_elbow_roll() const;
451  float r_wrist_yaw() const;
452  void set_r_wrist_yaw(const float new_r_wrist_yaw);
453  size_t maxlenof_r_wrist_yaw() const;
454  float r_hand() const;
455  void set_r_hand(const float new_r_hand);
456  size_t maxlenof_r_hand() const;
457  float r_hip_yaw_pitch() const;
458  void set_r_hip_yaw_pitch(const float new_r_hip_yaw_pitch);
459  size_t maxlenof_r_hip_yaw_pitch() const;
460  float r_hip_roll() const;
461  void set_r_hip_roll(const float new_r_hip_roll);
462  size_t maxlenof_r_hip_roll() const;
463  float r_hip_pitch() const;
464  void set_r_hip_pitch(const float new_r_hip_pitch);
465  size_t maxlenof_r_hip_pitch() const;
466  float r_knee_pitch() const;
467  void set_r_knee_pitch(const float new_r_knee_pitch);
468  size_t maxlenof_r_knee_pitch() const;
469  float r_ankle_pitch() const;
470  void set_r_ankle_pitch(const float new_r_ankle_pitch);
471  size_t maxlenof_r_ankle_pitch() const;
472  float r_ankle_roll() const;
473  void set_r_ankle_roll(const float new_r_ankle_roll);
474  size_t maxlenof_r_ankle_roll() const;
475  virtual Message * clone() const;
476  };
477 
478  virtual bool message_valid(const Message *message) const;
479  private:
482 
483  public:
484  /* Methods */
485  RobotType robot_type() const;
486  void set_robot_type(const RobotType new_robot_type);
487  size_t maxlenof_robot_type() const;
488  uint8_t * robot_version() const;
489  uint8_t robot_version(unsigned int index) const;
490  void set_robot_version(unsigned int index, const uint8_t new_robot_version);
491  void set_robot_version(const uint8_t * new_robot_version);
492  size_t maxlenof_robot_version() const;
493  float head_yaw() const;
494  void set_head_yaw(const float new_head_yaw);
495  size_t maxlenof_head_yaw() const;
496  float head_pitch() const;
497  void set_head_pitch(const float new_head_pitch);
498  size_t maxlenof_head_pitch() const;
499  float l_shoulder_pitch() const;
500  void set_l_shoulder_pitch(const float new_l_shoulder_pitch);
501  size_t maxlenof_l_shoulder_pitch() const;
502  float l_shoulder_roll() const;
503  void set_l_shoulder_roll(const float new_l_shoulder_roll);
504  size_t maxlenof_l_shoulder_roll() const;
505  float l_elbow_yaw() const;
506  void set_l_elbow_yaw(const float new_l_elbow_yaw);
507  size_t maxlenof_l_elbow_yaw() const;
508  float l_elbow_roll() const;
509  void set_l_elbow_roll(const float new_l_elbow_roll);
510  size_t maxlenof_l_elbow_roll() const;
511  float l_wrist_yaw() const;
512  void set_l_wrist_yaw(const float new_l_wrist_yaw);
513  size_t maxlenof_l_wrist_yaw() const;
514  float l_hand() const;
515  void set_l_hand(const float new_l_hand);
516  size_t maxlenof_l_hand() const;
517  float l_hip_yaw_pitch() const;
518  void set_l_hip_yaw_pitch(const float new_l_hip_yaw_pitch);
519  size_t maxlenof_l_hip_yaw_pitch() const;
520  float l_hip_roll() const;
521  void set_l_hip_roll(const float new_l_hip_roll);
522  size_t maxlenof_l_hip_roll() const;
523  float l_hip_pitch() const;
524  void set_l_hip_pitch(const float new_l_hip_pitch);
525  size_t maxlenof_l_hip_pitch() const;
526  float l_knee_pitch() const;
527  void set_l_knee_pitch(const float new_l_knee_pitch);
528  size_t maxlenof_l_knee_pitch() const;
529  float l_ankle_pitch() const;
530  void set_l_ankle_pitch(const float new_l_ankle_pitch);
531  size_t maxlenof_l_ankle_pitch() const;
532  float l_ankle_roll() const;
533  void set_l_ankle_roll(const float new_l_ankle_roll);
534  size_t maxlenof_l_ankle_roll() const;
535  float r_shoulder_pitch() const;
536  void set_r_shoulder_pitch(const float new_r_shoulder_pitch);
537  size_t maxlenof_r_shoulder_pitch() const;
538  float r_shoulder_roll() const;
539  void set_r_shoulder_roll(const float new_r_shoulder_roll);
540  size_t maxlenof_r_shoulder_roll() const;
541  float r_elbow_yaw() const;
542  void set_r_elbow_yaw(const float new_r_elbow_yaw);
543  size_t maxlenof_r_elbow_yaw() const;
544  float r_elbow_roll() const;
545  void set_r_elbow_roll(const float new_r_elbow_roll);
546  size_t maxlenof_r_elbow_roll() const;
547  float r_wrist_yaw() const;
548  void set_r_wrist_yaw(const float new_r_wrist_yaw);
549  size_t maxlenof_r_wrist_yaw() const;
550  float r_hand() const;
551  void set_r_hand(const float new_r_hand);
552  size_t maxlenof_r_hand() const;
553  float r_hip_yaw_pitch() const;
554  void set_r_hip_yaw_pitch(const float new_r_hip_yaw_pitch);
555  size_t maxlenof_r_hip_yaw_pitch() const;
556  float r_hip_roll() const;
557  void set_r_hip_roll(const float new_r_hip_roll);
558  size_t maxlenof_r_hip_roll() const;
559  float r_hip_pitch() const;
560  void set_r_hip_pitch(const float new_r_hip_pitch);
561  size_t maxlenof_r_hip_pitch() const;
562  float r_knee_pitch() const;
563  void set_r_knee_pitch(const float new_r_knee_pitch);
564  size_t maxlenof_r_knee_pitch() const;
565  float r_ankle_pitch() const;
566  void set_r_ankle_pitch(const float new_r_ankle_pitch);
567  size_t maxlenof_r_ankle_pitch() const;
568  float r_ankle_roll() const;
569  void set_r_ankle_roll(const float new_r_ankle_roll);
570  size_t maxlenof_r_ankle_roll() const;
571  int32_t time() const;
572  void set_time(const int32_t new_time);
573  size_t maxlenof_time() const;
574  virtual Message * create_message(const char *type) const;
575 
576  virtual void copy_values(const Interface *other);
577  virtual const char * enum_tostring(const char *enumtype, int val) const;
578 
579 };
580 
581 } // end namespace fawkes
582 
583 #endif
fawkes::NaoJointPositionInterface::MoveServosMessage::maxlenof_l_hip_yaw_pitch
size_t maxlenof_l_hip_yaw_pitch() const
Get maximum length of l_hip_yaw_pitch value.
Definition: NaoJointPositionInterface.cpp:2910
fawkes::NaoJointPositionInterface::MoveServosMessage::maxlenof_r_hip_roll
size_t maxlenof_r_hip_roll() const
Get maximum length of r_hip_roll value.
Definition: NaoJointPositionInterface.cpp:3300
fawkes::NaoJointPositionInterface::SERVO_head_pitch
static const uint32_t SERVO_head_pitch
SERVO_head_pitch constant.
Definition: NaoJointPositionInterface.h:41
fawkes::NaoJointPositionInterface::SetServosMessage::head_yaw
float head_yaw() const
Get head_yaw value.
Definition: NaoJointPositionInterface.cpp:1466
fawkes::NaoJointPositionInterface::SetServosMessage::set_time
void set_time(const int32_t new_time)
Set time value.
Definition: NaoJointPositionInterface.cpp:2274
fawkes::NaoJointPositionInterface::r_shoulder_roll
float r_shoulder_roll() const
Get r_shoulder_roll value.
Definition: NaoJointPositionInterface.cpp:723
fawkes::NaoJointPositionInterface::MoveServosMessage::r_hip_yaw_pitch
float r_hip_yaw_pitch() const
Get r_hip_yaw_pitch value.
Definition: NaoJointPositionInterface.cpp:3260
fawkes::NaoJointPositionInterface::set_head_pitch
void set_head_pitch(const float new_head_pitch)
Set head_pitch value.
Definition: NaoJointPositionInterface.cpp:323
fawkes::NaoJointPositionInterface::MoveServosMessage::maxlenof_r_shoulder_roll
size_t maxlenof_r_shoulder_roll() const
Get maximum length of r_shoulder_roll value.
Definition: NaoJointPositionInterface.cpp:3120
fawkes::NaoJointPositionInterface::SetServosMessage::maxlenof_r_ankle_roll
size_t maxlenof_r_ankle_roll() const
Get maximum length of r_ankle_roll value.
Definition: NaoJointPositionInterface.cpp:2226
fawkes::NaoJointPositionInterface::SetServosMessage::head_pitch
float head_pitch() const
Get head_pitch value.
Definition: NaoJointPositionInterface.cpp:1496
fawkes::NaoJointPositionInterface::l_elbow_roll
float l_elbow_roll() const
Get l_elbow_roll value.
Definition: NaoJointPositionInterface.cpp:423
fawkes::NaoJointPositionInterface::MoveServosMessage::l_ankle_roll
float l_ankle_roll() const
Get l_ankle_roll value.
Definition: NaoJointPositionInterface.cpp:3050
fawkes::NaoJointPositionInterface::MoveServosMessage::set_r_knee_pitch
void set_r_knee_pitch(const float new_r_knee_pitch)
Set r_knee_pitch value.
Definition: NaoJointPositionInterface.cpp:3370
fawkes::NaoJointPositionInterface::MoveServosMessage::l_ankle_pitch
float l_ankle_pitch() const
Get l_ankle_pitch value.
Definition: NaoJointPositionInterface.cpp:3020
fawkes::NaoJointPositionInterface::maxlenof_r_wrist_yaw
size_t maxlenof_r_wrist_yaw() const
Get maximum length of r_wrist_yaw value.
Definition: NaoJointPositionInterface.cpp:823
fawkes::NaoJointPositionInterface::set_l_knee_pitch
void set_l_knee_pitch(const float new_l_knee_pitch)
Set l_knee_pitch value.
Definition: NaoJointPositionInterface.cpp:623
fawkes::NaoJointPositionInterface::SetServosMessage::set_r_hip_yaw_pitch
void set_r_hip_yaw_pitch(const float new_r_hip_yaw_pitch)
Set r_hip_yaw_pitch value.
Definition: NaoJointPositionInterface.cpp:2086
fawkes::NaoJointPositionInterface::maxlenof_l_hip_yaw_pitch
size_t maxlenof_l_hip_yaw_pitch() const
Get maximum length of l_hip_yaw_pitch value.
Definition: NaoJointPositionInterface.cpp:523
fawkes::NaoJointPositionInterface::set_robot_version
void set_robot_version(unsigned int index, const uint8_t new_robot_version)
Set robot_version value at given index.
Definition: NaoJointPositionInterface.cpp:264
fawkes::NaoJointPositionInterface::MoveServosMessage::r_knee_pitch
float r_knee_pitch() const
Get r_knee_pitch value.
Definition: NaoJointPositionInterface.cpp:3350
fawkes::NaoJointPositionInterface::MoveServosMessage::maxlenof_r_elbow_roll
size_t maxlenof_r_elbow_roll() const
Get maximum length of r_elbow_roll value.
Definition: NaoJointPositionInterface.cpp:3180
fawkes::NaoJointPositionInterface::MoveServosMessage::l_hip_roll
float l_hip_roll() const
Get l_hip_roll value.
Definition: NaoJointPositionInterface.cpp:2930
fawkes::NaoJointPositionInterface::SERVO_r_hip_pitch
static const uint32_t SERVO_r_hip_pitch
SERVO_r_hip_pitch constant.
Definition: NaoJointPositionInterface.h:62
fawkes::NaoJointPositionInterface::MoveServosMessage::set_l_wrist_yaw
void set_l_wrist_yaw(const float new_l_wrist_yaw)
Set l_wrist_yaw value.
Definition: NaoJointPositionInterface.cpp:2860
fawkes::NaoJointPositionInterface::MoveServosMessage::maxlenof_l_shoulder_pitch
size_t maxlenof_l_shoulder_pitch() const
Get maximum length of l_shoulder_pitch value.
Definition: NaoJointPositionInterface.cpp:2730
fawkes::NaoJointPositionInterface::SetServosMessage::r_knee_pitch
float r_knee_pitch() const
Get r_knee_pitch value.
Definition: NaoJointPositionInterface.cpp:2156
fawkes::NaoJointPositionInterface::SetServoMessage
SetServoMessage Fawkes BlackBoard Interface Message.
Definition: NaoJointPositionInterface.h:133
fawkes::NaoJointPositionInterface::ROBOTYPE_ROBOCUP
@ ROBOTYPE_ROBOCUP
RoboCup version with 21 DoF.
Definition: NaoJointPositionInterface.h:77
fawkes::NaoJointPositionInterface::SERVO_r_elbow_roll
static const uint32_t SERVO_r_elbow_roll
SERVO_r_elbow_roll constant.
Definition: NaoJointPositionInterface.h:57
fawkes::NaoJointPositionInterface::r_wrist_yaw
float r_wrist_yaw() const
Get r_wrist_yaw value.
Definition: NaoJointPositionInterface.cpp:813
fawkes::NaoJointPositionInterface::MoveServosMessage::l_shoulder_pitch
float l_shoulder_pitch() const
Get l_shoulder_pitch value.
Definition: NaoJointPositionInterface.cpp:2720
fawkes::NaoJointPositionInterface::set_robot_type
void set_robot_type(const RobotType new_robot_type)
Set robot_type value.
Definition: NaoJointPositionInterface.cpp:192
fawkes::NaoJointPositionInterface::MoveServosMessage::l_knee_pitch
float l_knee_pitch() const
Get l_knee_pitch value.
Definition: NaoJointPositionInterface.cpp:2990
fawkes::NaoJointPositionInterface::SetServosMessage::time
int32_t time() const
Get time value.
Definition: NaoJointPositionInterface.cpp:2250
fawkes::NaoJointPositionInterface::MoveServosMessage::set_r_shoulder_roll
void set_r_shoulder_roll(const float new_r_shoulder_roll)
Set r_shoulder_roll value.
Definition: NaoJointPositionInterface.cpp:3130
fawkes::NaoJointPositionInterface::MoveServoMessage::servo
uint32_t servo() const
Get servo value.
Definition: NaoJointPositionInterface.cpp:2360
fawkes::NaoJointPositionInterface::MoveServosMessage::maxlenof_l_elbow_yaw
size_t maxlenof_l_elbow_yaw() const
Get maximum length of l_elbow_yaw value.
Definition: NaoJointPositionInterface.cpp:2790
fawkes::NaoJointPositionInterface::l_hip_pitch
float l_hip_pitch() const
Get l_hip_pitch value.
Definition: NaoJointPositionInterface.cpp:573
fawkes::NaoJointPositionInterface::maxlenof_l_hip_roll
size_t maxlenof_l_hip_roll() const
Get maximum length of l_hip_roll value.
Definition: NaoJointPositionInterface.cpp:553
fawkes::NaoJointPositionInterface::SetServosMessage::clone
virtual Message * clone() const
Clone this message.
Definition: NaoJointPositionInterface.cpp:2285
fawkes::NaoJointPositionInterface::MoveServosMessage::maxlenof_l_elbow_roll
size_t maxlenof_l_elbow_roll() const
Get maximum length of l_elbow_roll value.
Definition: NaoJointPositionInterface.cpp:2820
fawkes::NaoJointPositionInterface::MoveServosMessage::set_l_shoulder_pitch
void set_l_shoulder_pitch(const float new_l_shoulder_pitch)
Set l_shoulder_pitch value.
Definition: NaoJointPositionInterface.cpp:2740
fawkes::NaoJointPositionInterface::l_wrist_yaw
float l_wrist_yaw() const
Get l_wrist_yaw value.
Definition: NaoJointPositionInterface.cpp:453
fawkes::NaoJointPositionInterface::create_message
virtual Message * create_message(const char *type) const
Create message based on type name.
Definition: NaoJointPositionInterface.cpp:1088
fawkes::NaoJointPositionInterface::r_shoulder_pitch
float r_shoulder_pitch() const
Get r_shoulder_pitch value.
Definition: NaoJointPositionInterface.cpp:693
fawkes::NaoJointPositionInterface::set_l_hip_roll
void set_l_hip_roll(const float new_l_hip_roll)
Set l_hip_roll value.
Definition: NaoJointPositionInterface.cpp:563
fawkes::NaoJointPositionInterface::SetServosMessage::set_r_shoulder_pitch
void set_r_shoulder_pitch(const float new_r_shoulder_pitch)
Set r_shoulder_pitch value.
Definition: NaoJointPositionInterface.cpp:1906
fawkes::NaoJointPositionInterface::set_l_shoulder_pitch
void set_l_shoulder_pitch(const float new_l_shoulder_pitch)
Set l_shoulder_pitch value.
Definition: NaoJointPositionInterface.cpp:353
fawkes::NaoJointPositionInterface::MoveServosMessage::l_shoulder_roll
float l_shoulder_roll() const
Get l_shoulder_roll value.
Definition: NaoJointPositionInterface.cpp:2750
fawkes::NaoJointPositionInterface::MoveServoMessage::maxlenof_value
size_t maxlenof_value() const
Get maximum length of value value.
Definition: NaoJointPositionInterface.cpp:2404
fawkes::NaoJointPositionInterface::MoveServoMessage::~MoveServoMessage
~MoveServoMessage()
Destructor.
Definition: NaoJointPositionInterface.cpp:2333
fawkes::NaoJointPositionInterface::MoveServosMessage::head_yaw
float head_yaw() const
Get head_yaw value.
Definition: NaoJointPositionInterface.cpp:2660
fawkes::Message
Base class for all messages passed through interfaces in Fawkes BlackBoard.
Definition: message.h:45
fawkes::NaoJointPositionInterface::MoveServosMessage::maxlenof_r_shoulder_pitch
size_t maxlenof_r_shoulder_pitch() const
Get maximum length of r_shoulder_pitch value.
Definition: NaoJointPositionInterface.cpp:3090
fawkes::NaoJointPositionInterface::maxlenof_r_shoulder_pitch
size_t maxlenof_r_shoulder_pitch() const
Get maximum length of r_shoulder_pitch value.
Definition: NaoJointPositionInterface.cpp:703
fawkes::NaoJointPositionInterface::MoveServosMessage::MoveServosMessage
MoveServosMessage()
Constructor.
Definition: NaoJointPositionInterface.cpp:2564
fawkes::NaoJointPositionInterface::SetServosMessage::set_r_wrist_yaw
void set_r_wrist_yaw(const float new_r_wrist_yaw)
Set r_wrist_yaw value.
Definition: NaoJointPositionInterface.cpp:2026
fawkes::NaoJointPositionInterface::SetServosMessage::l_hip_yaw_pitch
float l_hip_yaw_pitch() const
Get l_hip_yaw_pitch value.
Definition: NaoJointPositionInterface.cpp:1646
fawkes::NaoJointPositionInterface::SetServosMessage::set_r_hand
void set_r_hand(const float new_r_hand)
Set r_hand value.
Definition: NaoJointPositionInterface.cpp:2056
fawkes::NaoJointPositionInterface::SetServosMessage::set_r_knee_pitch
void set_r_knee_pitch(const float new_r_knee_pitch)
Set r_knee_pitch value.
Definition: NaoJointPositionInterface.cpp:2176
fawkes::NaoJointPositionInterface::maxlenof_l_shoulder_roll
size_t maxlenof_l_shoulder_roll() const
Get maximum length of l_shoulder_roll value.
Definition: NaoJointPositionInterface.cpp:373
fawkes::NaoJointPositionInterface::MoveServosMessage::speed
float speed() const
Get speed value.
Definition: NaoJointPositionInterface.cpp:2628
fawkes::NaoJointPositionInterface::set_r_elbow_roll
void set_r_elbow_roll(const float new_r_elbow_roll)
Set r_elbow_roll value.
Definition: NaoJointPositionInterface.cpp:803
fawkes::NaoJointPositionInterface::head_pitch
float head_pitch() const
Get head_pitch value.
Definition: NaoJointPositionInterface.cpp:303
fawkes::NaoJointPositionInterface::SERVO_r_knee_pitch
static const uint32_t SERVO_r_knee_pitch
SERVO_r_knee_pitch constant.
Definition: NaoJointPositionInterface.h:63
fawkes::NaoJointPositionInterface::MoveServosMessage::maxlenof_r_hip_pitch
size_t maxlenof_r_hip_pitch() const
Get maximum length of r_hip_pitch value.
Definition: NaoJointPositionInterface.cpp:3330
fawkes::NaoJointPositionInterface::maxlenof_l_shoulder_pitch
size_t maxlenof_l_shoulder_pitch() const
Get maximum length of l_shoulder_pitch value.
Definition: NaoJointPositionInterface.cpp:343
fawkes::NaoJointPositionInterface::SetServosMessage::maxlenof_l_shoulder_pitch
size_t maxlenof_l_shoulder_pitch() const
Get maximum length of l_shoulder_pitch value.
Definition: NaoJointPositionInterface.cpp:1536
fawkes::NaoJointPositionInterface::MoveServosMessage::maxlenof_r_wrist_yaw
size_t maxlenof_r_wrist_yaw() const
Get maximum length of r_wrist_yaw value.
Definition: NaoJointPositionInterface.cpp:3210
fawkes::NaoJointPositionInterface::SetServosMessage::r_wrist_yaw
float r_wrist_yaw() const
Get r_wrist_yaw value.
Definition: NaoJointPositionInterface.cpp:2006
fawkes::NaoJointPositionInterface::l_ankle_pitch
float l_ankle_pitch() const
Get l_ankle_pitch value.
Definition: NaoJointPositionInterface.cpp:633
fawkes::NaoJointPositionInterface::SERVO_l_hand
static const uint32_t SERVO_l_hand
SERVO_l_hand constant.
Definition: NaoJointPositionInterface.h:47
fawkes::NaoJointPositionInterface::SERVO_r_hip_yaw_pitch
static const uint32_t SERVO_r_hip_yaw_pitch
SERVO_r_hip_yaw_pitch constant.
Definition: NaoJointPositionInterface.h:60
fawkes::NaoJointPositionInterface::SetServosMessage::set_r_elbow_roll
void set_r_elbow_roll(const float new_r_elbow_roll)
Set r_elbow_roll value.
Definition: NaoJointPositionInterface.cpp:1996
fawkes::NaoJointPositionInterface::maxlenof_robot_version
size_t maxlenof_robot_version() const
Get maximum length of robot_version value.
Definition: NaoJointPositionInterface.cpp:235
fawkes::NaoJointPositionInterface::SetServoMessage::time
int32_t time() const
Get time value.
Definition: NaoJointPositionInterface.cpp:1264
fawkes::NaoJointPositionInterface::SetServosMessage::r_hand
float r_hand() const
Get r_hand value.
Definition: NaoJointPositionInterface.cpp:2036
fawkes::NaoJointPositionInterface::copy_values
virtual void copy_values(const Interface *other)
Copy values from other interface.
Definition: NaoJointPositionInterface.cpp:1109
fawkes::NaoJointPositionInterface::r_ankle_roll
float r_ankle_roll() const
Get r_ankle_roll value.
Definition: NaoJointPositionInterface.cpp:1023
fawkes::NaoJointPositionInterface::SetServosMessage::maxlenof_r_knee_pitch
size_t maxlenof_r_knee_pitch() const
Get maximum length of r_knee_pitch value.
Definition: NaoJointPositionInterface.cpp:2166
fawkes::NaoJointPositionInterface::MoveServosMessage::set_speed
void set_speed(const float new_speed)
Set speed value.
Definition: NaoJointPositionInterface.cpp:2650
fawkes::NaoJointPositionInterface::SetServoMessage::maxlenof_value
size_t maxlenof_value() const
Get maximum length of value value.
Definition: NaoJointPositionInterface.cpp:1240
fawkes::NaoJointPositionInterface::SetServoMessage::value
float value() const
Get value value.
Definition: NaoJointPositionInterface.cpp:1230
fawkes::NaoJointPositionInterface::MoveServosMessage::set_l_hand
void set_l_hand(const float new_l_hand)
Set l_hand value.
Definition: NaoJointPositionInterface.cpp:2890
fawkes::NaoJointPositionInterface::MoveServosMessage::set_r_hip_roll
void set_r_hip_roll(const float new_r_hip_roll)
Set r_hip_roll value.
Definition: NaoJointPositionInterface.cpp:3310
fawkes::NaoJointPositionInterface::MoveServosMessage::set_r_hand
void set_r_hand(const float new_r_hand)
Set r_hand value.
Definition: NaoJointPositionInterface.cpp:3250
fawkes::NaoJointPositionInterface::MoveServosMessage::set_l_ankle_pitch
void set_l_ankle_pitch(const float new_l_ankle_pitch)
Set l_ankle_pitch value.
Definition: NaoJointPositionInterface.cpp:3040
fawkes::NaoJointPositionInterface::SetServosMessage::set_r_hip_pitch
void set_r_hip_pitch(const float new_r_hip_pitch)
Set r_hip_pitch value.
Definition: NaoJointPositionInterface.cpp:2146
fawkes::NaoJointPositionInterface::MoveServosMessage::l_hip_yaw_pitch
float l_hip_yaw_pitch() const
Get l_hip_yaw_pitch value.
Definition: NaoJointPositionInterface.cpp:2900
fawkes::NaoJointPositionInterface::SetServosMessage::set_head_pitch
void set_head_pitch(const float new_head_pitch)
Set head_pitch value.
Definition: NaoJointPositionInterface.cpp:1516
fawkes::NaoJointPositionInterface::SERVO_r_shoulder_roll
static const uint32_t SERVO_r_shoulder_roll
SERVO_r_shoulder_roll constant.
Definition: NaoJointPositionInterface.h:55
fawkes::NaoJointPositionInterface::SetServoMessage::maxlenof_servo
size_t maxlenof_servo() const
Get maximum length of servo value.
Definition: NaoJointPositionInterface.cpp:1208
fawkes::NaoJointPositionInterface::l_hip_yaw_pitch
float l_hip_yaw_pitch() const
Get l_hip_yaw_pitch value.
Definition: NaoJointPositionInterface.cpp:513
fawkes::Interface::type
const char * type() const
Get type of interface.
Definition: interface.cpp:643
fawkes::NaoJointPositionInterface::SetServosMessage::l_elbow_yaw
float l_elbow_yaw() const
Get l_elbow_yaw value.
Definition: NaoJointPositionInterface.cpp:1586
fawkes::NaoJointPositionInterface::SetServosMessage::maxlenof_head_yaw
size_t maxlenof_head_yaw() const
Get maximum length of head_yaw value.
Definition: NaoJointPositionInterface.cpp:1476
fawkes::NaoJointPositionInterface::MoveServosMessage::maxlenof_l_wrist_yaw
size_t maxlenof_l_wrist_yaw() const
Get maximum length of l_wrist_yaw value.
Definition: NaoJointPositionInterface.cpp:2850
fawkes::NaoJointPositionInterface::set_l_elbow_yaw
void set_l_elbow_yaw(const float new_l_elbow_yaw)
Set l_elbow_yaw value.
Definition: NaoJointPositionInterface.cpp:413
fawkes::NaoJointPositionInterface::MoveServoMessage::maxlenof_servo
size_t maxlenof_servo() const
Get maximum length of servo value.
Definition: NaoJointPositionInterface.cpp:2370
fawkes::NaoJointPositionInterface::SetServosMessage::maxlenof_l_ankle_pitch
size_t maxlenof_l_ankle_pitch() const
Get maximum length of l_ankle_pitch value.
Definition: NaoJointPositionInterface.cpp:1776
fawkes::NaoJointPositionInterface::MoveServosMessage::r_ankle_pitch
float r_ankle_pitch() const
Get r_ankle_pitch value.
Definition: NaoJointPositionInterface.cpp:3380
fawkes::NaoJointPositionInterface::SERVO_l_ankle_pitch
static const uint32_t SERVO_l_ankle_pitch
SERVO_l_ankle_pitch constant.
Definition: NaoJointPositionInterface.h:52
fawkes::NaoJointPositionInterface::maxlenof_r_shoulder_roll
size_t maxlenof_r_shoulder_roll() const
Get maximum length of r_shoulder_roll value.
Definition: NaoJointPositionInterface.cpp:733
fawkes::NaoJointPositionInterface::MoveServosMessage::set_r_wrist_yaw
void set_r_wrist_yaw(const float new_r_wrist_yaw)
Set r_wrist_yaw value.
Definition: NaoJointPositionInterface.cpp:3220
fawkes::NaoJointPositionInterface::r_hip_roll
float r_hip_roll() const
Get r_hip_roll value.
Definition: NaoJointPositionInterface.cpp:903
fawkes::NaoJointPositionInterface::maxlenof_l_ankle_pitch
size_t maxlenof_l_ankle_pitch() const
Get maximum length of l_ankle_pitch value.
Definition: NaoJointPositionInterface.cpp:643
fawkes::NaoJointPositionInterface::set_head_yaw
void set_head_yaw(const float new_head_yaw)
Set head_yaw value.
Definition: NaoJointPositionInterface.cpp:293
fawkes::NaoJointPositionInterface::MoveServosMessage::set_r_elbow_yaw
void set_r_elbow_yaw(const float new_r_elbow_yaw)
Set r_elbow_yaw value.
Definition: NaoJointPositionInterface.cpp:3160
fawkes::NaoJointPositionInterface::SetServosMessage::l_knee_pitch
float l_knee_pitch() const
Get l_knee_pitch value.
Definition: NaoJointPositionInterface.cpp:1736
fawkes::NaoJointPositionInterface::SERVO_min
static const uint32_t SERVO_min
SERVO_min constant.
Definition: NaoJointPositionInterface.h:66
fawkes::NaoJointPositionInterface::set_r_hip_pitch
void set_r_hip_pitch(const float new_r_hip_pitch)
Set r_hip_pitch value.
Definition: NaoJointPositionInterface.cpp:953
fawkes::NaoJointPositionInterface::MoveServosMessage::set_head_pitch
void set_head_pitch(const float new_head_pitch)
Set head_pitch value.
Definition: NaoJointPositionInterface.cpp:2710
fawkes::NaoJointPositionInterface::r_elbow_roll
float r_elbow_roll() const
Get r_elbow_roll value.
Definition: NaoJointPositionInterface.cpp:783
fawkes::NaoJointPositionInterface::maxlenof_head_pitch
size_t maxlenof_head_pitch() const
Get maximum length of head_pitch value.
Definition: NaoJointPositionInterface.cpp:313
fawkes::NaoJointPositionInterface::robot_version
uint8_t * robot_version() const
Get robot_version value.
Definition: NaoJointPositionInterface.cpp:206
fawkes::NaoJointPositionInterface::SetServoMessage::set_time
void set_time(const int32_t new_time)
Set time value.
Definition: NaoJointPositionInterface.cpp:1288
fawkes::NaoJointPositionInterface::set_l_hip_yaw_pitch
void set_l_hip_yaw_pitch(const float new_l_hip_yaw_pitch)
Set l_hip_yaw_pitch value.
Definition: NaoJointPositionInterface.cpp:533
fawkes::NaoJointPositionInterface::MoveServosMessage
MoveServosMessage Fawkes BlackBoard Interface Message.
Definition: NaoJointPositionInterface.h:347
fawkes::NaoJointPositionInterface::SetServosMessage::set_l_hip_yaw_pitch
void set_l_hip_yaw_pitch(const float new_l_hip_yaw_pitch)
Set l_hip_yaw_pitch value.
Definition: NaoJointPositionInterface.cpp:1666
fawkes::NaoJointPositionInterface::set_r_shoulder_pitch
void set_r_shoulder_pitch(const float new_r_shoulder_pitch)
Set r_shoulder_pitch value.
Definition: NaoJointPositionInterface.cpp:713
fawkes::NaoJointPositionInterface::SetServoMessage::clone
virtual Message * clone() const
Clone this message.
Definition: NaoJointPositionInterface.cpp:1299
fawkes::NaoJointPositionInterface::r_ankle_pitch
float r_ankle_pitch() const
Get r_ankle_pitch value.
Definition: NaoJointPositionInterface.cpp:993
fawkes::NaoJointPositionInterface::MoveServosMessage::maxlenof_l_ankle_pitch
size_t maxlenof_l_ankle_pitch() const
Get maximum length of l_ankle_pitch value.
Definition: NaoJointPositionInterface.cpp:3030
fawkes::NaoJointPositionInterface::l_hip_roll
float l_hip_roll() const
Get l_hip_roll value.
Definition: NaoJointPositionInterface.cpp:543
fawkes::NaoJointPositionInterface::enum_tostring
virtual const char * enum_tostring(const char *enumtype, int val) const
Convert arbitrary enum value to string.
Definition: NaoJointPositionInterface.cpp:1120
fawkes::NaoJointPositionInterface::MoveServosMessage::head_pitch
float head_pitch() const
Get head_pitch value.
Definition: NaoJointPositionInterface.cpp:2690
fawkes::NaoJointPositionInterface::SetServosMessage::set_r_ankle_pitch
void set_r_ankle_pitch(const float new_r_ankle_pitch)
Set r_ankle_pitch value.
Definition: NaoJointPositionInterface.cpp:2206
fawkes::NaoJointPositionInterface::SetServosMessage::set_l_hip_roll
void set_l_hip_roll(const float new_l_hip_roll)
Set l_hip_roll value.
Definition: NaoJointPositionInterface.cpp:1696
fawkes::NaoJointPositionInterface::SetServoMessage::servo
uint32_t servo() const
Get servo value.
Definition: NaoJointPositionInterface.cpp:1198
fawkes::NaoJointPositionInterface::SetServosMessage::l_shoulder_roll
float l_shoulder_roll() const
Get l_shoulder_roll value.
Definition: NaoJointPositionInterface.cpp:1556
fawkes::NaoJointPositionInterface::SetServosMessage::r_elbow_yaw
float r_elbow_yaw() const
Get r_elbow_yaw value.
Definition: NaoJointPositionInterface.cpp:1946
fawkes::NaoJointPositionInterface::r_hip_pitch
float r_hip_pitch() const
Get r_hip_pitch value.
Definition: NaoJointPositionInterface.cpp:933
fawkes::NaoJointPositionInterface::maxlenof_l_ankle_roll
size_t maxlenof_l_ankle_roll() const
Get maximum length of l_ankle_roll value.
Definition: NaoJointPositionInterface.cpp:673
fawkes::NaoJointPositionInterface::SetServosMessage::maxlenof_r_shoulder_roll
size_t maxlenof_r_shoulder_roll() const
Get maximum length of r_shoulder_roll value.
Definition: NaoJointPositionInterface.cpp:1926
fawkes::NaoJointPositionInterface::SetServosMessage::maxlenof_r_hand
size_t maxlenof_r_hand() const
Get maximum length of r_hand value.
Definition: NaoJointPositionInterface.cpp:2046
fawkes::NaoJointPositionInterface::set_r_hand
void set_r_hand(const float new_r_hand)
Set r_hand value.
Definition: NaoJointPositionInterface.cpp:863
fawkes::NaoJointPositionInterface::SetServosMessage::r_hip_yaw_pitch
float r_hip_yaw_pitch() const
Get r_hip_yaw_pitch value.
Definition: NaoJointPositionInterface.cpp:2066
fawkes::NaoJointPositionInterface::SetServosMessage
SetServosMessage Fawkes BlackBoard Interface Message.
Definition: NaoJointPositionInterface.h:173
fawkes::NaoJointPositionInterface::MoveServosMessage::set_r_elbow_roll
void set_r_elbow_roll(const float new_r_elbow_roll)
Set r_elbow_roll value.
Definition: NaoJointPositionInterface.cpp:3190
fawkes::NaoJointPositionInterface::maxlenof_head_yaw
size_t maxlenof_head_yaw() const
Get maximum length of head_yaw value.
Definition: NaoJointPositionInterface.cpp:283
fawkes::NaoJointPositionInterface::maxlenof_l_knee_pitch
size_t maxlenof_l_knee_pitch() const
Get maximum length of l_knee_pitch value.
Definition: NaoJointPositionInterface.cpp:613
fawkes::NaoJointPositionInterface::MoveServosMessage::set_r_hip_pitch
void set_r_hip_pitch(const float new_r_hip_pitch)
Set r_hip_pitch value.
Definition: NaoJointPositionInterface.cpp:3340
fawkes::NaoJointPositionInterface::set_r_ankle_pitch
void set_r_ankle_pitch(const float new_r_ankle_pitch)
Set r_ankle_pitch value.
Definition: NaoJointPositionInterface.cpp:1013
fawkes::NaoJointPositionInterface::SetServosMessage::maxlenof_l_knee_pitch
size_t maxlenof_l_knee_pitch() const
Get maximum length of l_knee_pitch value.
Definition: NaoJointPositionInterface.cpp:1746
fawkes::NaoJointPositionInterface::SERVO_l_shoulder_roll
static const uint32_t SERVO_l_shoulder_roll
SERVO_l_shoulder_roll constant.
Definition: NaoJointPositionInterface.h:43
fawkes::NaoJointPositionInterface::SetServosMessage::set_head_yaw
void set_head_yaw(const float new_head_yaw)
Set head_yaw value.
Definition: NaoJointPositionInterface.cpp:1486
fawkes::NaoJointPositionInterface::SetServosMessage::r_shoulder_roll
float r_shoulder_roll() const
Get r_shoulder_roll value.
Definition: NaoJointPositionInterface.cpp:1916
fawkes::NaoJointPositionInterface::MoveServosMessage::maxlenof_r_ankle_roll
size_t maxlenof_r_ankle_roll() const
Get maximum length of r_ankle_roll value.
Definition: NaoJointPositionInterface.cpp:3420
fawkes::NaoJointPositionInterface::SetServosMessage::set_l_ankle_pitch
void set_l_ankle_pitch(const float new_l_ankle_pitch)
Set l_ankle_pitch value.
Definition: NaoJointPositionInterface.cpp:1786
fawkes::NaoJointPositionInterface::MoveServoMessage::speed
float speed() const
Get speed value.
Definition: NaoJointPositionInterface.cpp:2426
fawkes::NaoJointPositionInterface::l_knee_pitch
float l_knee_pitch() const
Get l_knee_pitch value.
Definition: NaoJointPositionInterface.cpp:603
fawkes::NaoJointPositionInterface::MoveServoMessage::set_servo
void set_servo(const uint32_t new_servo)
Set servo value.
Definition: NaoJointPositionInterface.cpp:2384
fawkes::NaoJointPositionInterface::SetServosMessage::set_l_ankle_roll
void set_l_ankle_roll(const float new_l_ankle_roll)
Set l_ankle_roll value.
Definition: NaoJointPositionInterface.cpp:1816
fawkes::NaoJointPositionInterface::MoveServosMessage::maxlenof_r_hand
size_t maxlenof_r_hand() const
Get maximum length of r_hand value.
Definition: NaoJointPositionInterface.cpp:3240
fawkes::NaoJointPositionInterface::maxlenof_r_hip_roll
size_t maxlenof_r_hip_roll() const
Get maximum length of r_hip_roll value.
Definition: NaoJointPositionInterface.cpp:913
fawkes::NaoJointPositionInterface::SetServosMessage::set_l_hip_pitch
void set_l_hip_pitch(const float new_l_hip_pitch)
Set l_hip_pitch value.
Definition: NaoJointPositionInterface.cpp:1726
fawkes::NaoJointPositionInterface::MoveServosMessage::set_r_ankle_roll
void set_r_ankle_roll(const float new_r_ankle_roll)
Set r_ankle_roll value.
Definition: NaoJointPositionInterface.cpp:3430
fawkes::NaoJointPositionInterface::SetServosMessage::set_r_elbow_yaw
void set_r_elbow_yaw(const float new_r_elbow_yaw)
Set r_elbow_yaw value.
Definition: NaoJointPositionInterface.cpp:1966
fawkes::NaoJointPositionInterface::SERVO_l_hip_pitch
static const uint32_t SERVO_l_hip_pitch
SERVO_l_hip_pitch constant.
Definition: NaoJointPositionInterface.h:50
fawkes::NaoJointPositionInterface::r_hip_yaw_pitch
float r_hip_yaw_pitch() const
Get r_hip_yaw_pitch value.
Definition: NaoJointPositionInterface.cpp:873
fawkes::NaoJointPositionInterface::SERVO_l_hip_roll
static const uint32_t SERVO_l_hip_roll
SERVO_l_hip_roll constant.
Definition: NaoJointPositionInterface.h:49
fawkes::NaoJointPositionInterface::SERVO_l_shoulder_pitch
static const uint32_t SERVO_l_shoulder_pitch
SERVO_l_shoulder_pitch constant.
Definition: NaoJointPositionInterface.h:42
fawkes::NaoJointPositionInterface::SERVO_r_wrist_yaw
static const uint32_t SERVO_r_wrist_yaw
SERVO_r_wrist_yaw constant.
Definition: NaoJointPositionInterface.h:58
fawkes::NaoJointPositionInterface::SetServosMessage::r_shoulder_pitch
float r_shoulder_pitch() const
Get r_shoulder_pitch value.
Definition: NaoJointPositionInterface.cpp:1886
fawkes::NaoJointPositionInterface::set_r_knee_pitch
void set_r_knee_pitch(const float new_r_knee_pitch)
Set r_knee_pitch value.
Definition: NaoJointPositionInterface.cpp:983
fawkes::NaoJointPositionInterface::MoveServosMessage::set_head_yaw
void set_head_yaw(const float new_head_yaw)
Set head_yaw value.
Definition: NaoJointPositionInterface.cpp:2680
fawkes::NaoJointPositionInterface::SetServosMessage::l_wrist_yaw
float l_wrist_yaw() const
Get l_wrist_yaw value.
Definition: NaoJointPositionInterface.cpp:1826
fawkes::NaoJointPositionInterface::set_r_ankle_roll
void set_r_ankle_roll(const float new_r_ankle_roll)
Set r_ankle_roll value.
Definition: NaoJointPositionInterface.cpp:1043
fawkes::NaoJointPositionInterface::SetServosMessage::set_l_shoulder_roll
void set_l_shoulder_roll(const float new_l_shoulder_roll)
Set l_shoulder_roll value.
Definition: NaoJointPositionInterface.cpp:1576
fawkes::NaoJointPositionInterface::SetServosMessage::SetServosMessage
SetServosMessage()
Constructor.
Definition: NaoJointPositionInterface.cpp:1404
fawkes::NaoJointPositionInterface::MoveServosMessage::r_elbow_yaw
float r_elbow_yaw() const
Get r_elbow_yaw value.
Definition: NaoJointPositionInterface.cpp:3140
fawkes::NaoJointPositionInterface::robot_type
RobotType robot_type() const
Get robot_type value.
Definition: NaoJointPositionInterface.cpp:172
fawkes::NaoJointPositionInterface::maxlenof_robot_type
size_t maxlenof_robot_type() const
Get maximum length of robot_type value.
Definition: NaoJointPositionInterface.cpp:182
fawkes::NaoJointPositionInterface::MoveServosMessage::clone
virtual Message * clone() const
Clone this message.
Definition: NaoJointPositionInterface.cpp:3441
fawkes
Fawkes library namespace.
fawkes::NaoJointPositionInterface::SetServosMessage::l_hand
float l_hand() const
Get l_hand value.
Definition: NaoJointPositionInterface.cpp:1856
fawkes::NaoJointPositionInterface::SERVO_r_shoulder_pitch
static const uint32_t SERVO_r_shoulder_pitch
SERVO_r_shoulder_pitch constant.
Definition: NaoJointPositionInterface.h:54
fawkes::NaoJointPositionInterface::SERVO_l_wrist_yaw
static const uint32_t SERVO_l_wrist_yaw
SERVO_l_wrist_yaw constant.
Definition: NaoJointPositionInterface.h:46
fawkes::NaoJointPositionInterface::SetServosMessage::set_r_hip_roll
void set_r_hip_roll(const float new_r_hip_roll)
Set r_hip_roll value.
Definition: NaoJointPositionInterface.cpp:2116
fawkes::NaoJointPositionInterface::set_time
void set_time(const int32_t new_time)
Set time value.
Definition: NaoJointPositionInterface.cpp:1081
fawkes::NaoJointPositionInterface::MoveServosMessage::l_wrist_yaw
float l_wrist_yaw() const
Get l_wrist_yaw value.
Definition: NaoJointPositionInterface.cpp:2840
fawkes::NaoJointPositionInterface::maxlenof_r_hip_yaw_pitch
size_t maxlenof_r_hip_yaw_pitch() const
Get maximum length of r_hip_yaw_pitch value.
Definition: NaoJointPositionInterface.cpp:883
fawkes::NaoJointPositionInterface::set_r_hip_roll
void set_r_hip_roll(const float new_r_hip_roll)
Set r_hip_roll value.
Definition: NaoJointPositionInterface.cpp:923
fawkes::NaoJointPositionInterface::MoveServoMessage::set_speed
void set_speed(const float new_speed)
Set speed value.
Definition: NaoJointPositionInterface.cpp:2448
fawkes::NaoJointPositionInterface::MoveServosMessage::l_hip_pitch
float l_hip_pitch() const
Get l_hip_pitch value.
Definition: NaoJointPositionInterface.cpp:2960
fawkes::NaoJointPositionInterface::SetServoMessage::set_value
void set_value(const float new_value)
Set value value.
Definition: NaoJointPositionInterface.cpp:1250
fawkes::NaoJointPositionInterface::MoveServosMessage::r_wrist_yaw
float r_wrist_yaw() const
Get r_wrist_yaw value.
Definition: NaoJointPositionInterface.cpp:3200
fawkes::NaoJointPositionInterface::set_r_shoulder_roll
void set_r_shoulder_roll(const float new_r_shoulder_roll)
Set r_shoulder_roll value.
Definition: NaoJointPositionInterface.cpp:743
fawkes::NaoJointPositionInterface::r_elbow_yaw
float r_elbow_yaw() const
Get r_elbow_yaw value.
Definition: NaoJointPositionInterface.cpp:753
fawkes::NaoJointPositionInterface::SetServosMessage::r_ankle_roll
float r_ankle_roll() const
Get r_ankle_roll value.
Definition: NaoJointPositionInterface.cpp:2216
fawkes::NaoJointPositionInterface::maxlenof_time
size_t maxlenof_time() const
Get maximum length of time value.
Definition: NaoJointPositionInterface.cpp:1067
fawkes::NaoJointPositionInterface::l_shoulder_pitch
float l_shoulder_pitch() const
Get l_shoulder_pitch value.
Definition: NaoJointPositionInterface.cpp:333
fawkes::NaoJointPositionInterface::SetServosMessage::set_l_shoulder_pitch
void set_l_shoulder_pitch(const float new_l_shoulder_pitch)
Set l_shoulder_pitch value.
Definition: NaoJointPositionInterface.cpp:1546
fawkes::NaoJointPositionInterface::MoveServosMessage::set_l_hip_pitch
void set_l_hip_pitch(const float new_l_hip_pitch)
Set l_hip_pitch value.
Definition: NaoJointPositionInterface.cpp:2980
fawkes::NaoJointPositionInterface::SERVO_l_ankle_roll
static const uint32_t SERVO_l_ankle_roll
SERVO_l_ankle_roll constant.
Definition: NaoJointPositionInterface.h:53
fawkes::NaoJointPositionInterface::set_r_wrist_yaw
void set_r_wrist_yaw(const float new_r_wrist_yaw)
Set r_wrist_yaw value.
Definition: NaoJointPositionInterface.cpp:833
fawkes::NaoJointPositionInterface::SetServosMessage::maxlenof_r_shoulder_pitch
size_t maxlenof_r_shoulder_pitch() const
Get maximum length of r_shoulder_pitch value.
Definition: NaoJointPositionInterface.cpp:1896
fawkes::NaoJointPositionInterface::maxlenof_r_elbow_roll
size_t maxlenof_r_elbow_roll() const
Get maximum length of r_elbow_roll value.
Definition: NaoJointPositionInterface.cpp:793
fawkes::NaoJointPositionInterface::SetServosMessage::maxlenof_l_elbow_yaw
size_t maxlenof_l_elbow_yaw() const
Get maximum length of l_elbow_yaw value.
Definition: NaoJointPositionInterface.cpp:1596
fawkes::NaoJointPositionInterface::SetServosMessage::l_shoulder_pitch
float l_shoulder_pitch() const
Get l_shoulder_pitch value.
Definition: NaoJointPositionInterface.cpp:1526
fawkes::Interface
Base class for all Fawkes BlackBoard interfaces.
Definition: interface.h:79
fawkes::NaoJointPositionInterface::set_l_hip_pitch
void set_l_hip_pitch(const float new_l_hip_pitch)
Set l_hip_pitch value.
Definition: NaoJointPositionInterface.cpp:593
fawkes::NaoJointPositionInterface::RobotType
RobotType
Enumeration describing the actual version of the robot that's being used.
Definition: NaoJointPositionInterface.h:73
fawkes::NaoJointPositionInterface::head_yaw
float head_yaw() const
Get head_yaw value.
Definition: NaoJointPositionInterface.cpp:273
fawkes::NaoJointPositionInterface::SetServosMessage::maxlenof_l_ankle_roll
size_t maxlenof_l_ankle_roll() const
Get maximum length of l_ankle_roll value.
Definition: NaoJointPositionInterface.cpp:1806
fawkes::NaoJointPositionInterface::MoveServoMessage::value
float value() const
Get value value.
Definition: NaoJointPositionInterface.cpp:2394
fawkes::NaoJointPositionInterface::SetServosMessage::l_ankle_roll
float l_ankle_roll() const
Get l_ankle_roll value.
Definition: NaoJointPositionInterface.cpp:1796
fawkes::NaoJointPositionInterface::maxlenof_r_elbow_yaw
size_t maxlenof_r_elbow_yaw() const
Get maximum length of r_elbow_yaw value.
Definition: NaoJointPositionInterface.cpp:763
fawkes::NaoJointPositionInterface::r_knee_pitch
float r_knee_pitch() const
Get r_knee_pitch value.
Definition: NaoJointPositionInterface.cpp:963
fawkes::NaoJointPositionInterface::MoveServosMessage::maxlenof_l_ankle_roll
size_t maxlenof_l_ankle_roll() const
Get maximum length of l_ankle_roll value.
Definition: NaoJointPositionInterface.cpp:3060
fawkes::NaoJointPositionInterface::set_r_elbow_yaw
void set_r_elbow_yaw(const float new_r_elbow_yaw)
Set r_elbow_yaw value.
Definition: NaoJointPositionInterface.cpp:773
fawkes::NaoJointPositionInterface::SetServosMessage::maxlenof_r_elbow_yaw
size_t maxlenof_r_elbow_yaw() const
Get maximum length of r_elbow_yaw value.
Definition: NaoJointPositionInterface.cpp:1956
fawkes::NaoJointPositionInterface::maxlenof_r_knee_pitch
size_t maxlenof_r_knee_pitch() const
Get maximum length of r_knee_pitch value.
Definition: NaoJointPositionInterface.cpp:973
fawkes::NaoJointPositionInterface::MoveServosMessage::r_shoulder_roll
float r_shoulder_roll() const
Get r_shoulder_roll value.
Definition: NaoJointPositionInterface.cpp:3110
fawkes::NaoJointPositionInterface::SERVO_r_hand
static const uint32_t SERVO_r_hand
SERVO_r_hand constant.
Definition: NaoJointPositionInterface.h:59
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::NaoJointPositionInterface::MoveServoMessage::set_value
void set_value(const float new_value)
Set value value.
Definition: NaoJointPositionInterface.cpp:2414
fawkes::NaoJointPositionInterface::SetServosMessage::maxlenof_r_elbow_roll
size_t maxlenof_r_elbow_roll() const
Get maximum length of r_elbow_roll value.
Definition: NaoJointPositionInterface.cpp:1986
fawkes::NaoJointPositionInterface::SetServosMessage::maxlenof_l_hip_roll
size_t maxlenof_l_hip_roll() const
Get maximum length of l_hip_roll value.
Definition: NaoJointPositionInterface.cpp:1686
fawkes::NaoJointPositionInterface::SetServosMessage::r_ankle_pitch
float r_ankle_pitch() const
Get r_ankle_pitch value.
Definition: NaoJointPositionInterface.cpp:2186
fawkes::NaoJointPositionInterface::SetServosMessage::maxlenof_r_hip_pitch
size_t maxlenof_r_hip_pitch() const
Get maximum length of r_hip_pitch value.
Definition: NaoJointPositionInterface.cpp:2136
fawkes::NaoJointPositionInterface::MoveServosMessage::set_r_hip_yaw_pitch
void set_r_hip_yaw_pitch(const float new_r_hip_yaw_pitch)
Set r_hip_yaw_pitch value.
Definition: NaoJointPositionInterface.cpp:3280
fawkes::NaoJointPositionInterface::SetServosMessage::maxlenof_head_pitch
size_t maxlenof_head_pitch() const
Get maximum length of head_pitch value.
Definition: NaoJointPositionInterface.cpp:1506
fawkes::NaoJointPositionInterface::MoveServosMessage::maxlenof_head_pitch
size_t maxlenof_head_pitch() const
Get maximum length of head_pitch value.
Definition: NaoJointPositionInterface.cpp:2700
fawkes::NaoJointPositionInterface::MoveServosMessage::set_r_shoulder_pitch
void set_r_shoulder_pitch(const float new_r_shoulder_pitch)
Set r_shoulder_pitch value.
Definition: NaoJointPositionInterface.cpp:3100
fawkes::NaoJointPositionInterface::SetServosMessage::r_hip_pitch
float r_hip_pitch() const
Get r_hip_pitch value.
Definition: NaoJointPositionInterface.cpp:2126
fawkes::NaoJointPositionInterface::maxlenof_l_elbow_yaw
size_t maxlenof_l_elbow_yaw() const
Get maximum length of l_elbow_yaw value.
Definition: NaoJointPositionInterface.cpp:403
fawkes::NaoJointPositionInterface::SetServosMessage::set_r_shoulder_roll
void set_r_shoulder_roll(const float new_r_shoulder_roll)
Set r_shoulder_roll value.
Definition: NaoJointPositionInterface.cpp:1936
fawkes::NaoJointPositionInterface::SetServosMessage::r_hip_roll
float r_hip_roll() const
Get r_hip_roll value.
Definition: NaoJointPositionInterface.cpp:2096
fawkes::NaoJointPositionInterface::MoveServosMessage::set_l_elbow_yaw
void set_l_elbow_yaw(const float new_l_elbow_yaw)
Set l_elbow_yaw value.
Definition: NaoJointPositionInterface.cpp:2800
fawkes::NaoJointPositionInterface::set_l_ankle_pitch
void set_l_ankle_pitch(const float new_l_ankle_pitch)
Set l_ankle_pitch value.
Definition: NaoJointPositionInterface.cpp:653
fawkes::NaoJointPositionInterface::MoveServosMessage::~MoveServosMessage
~MoveServosMessage()
Destructor.
Definition: NaoJointPositionInterface.cpp:2603
fawkes::NaoJointPositionInterface::SetServosMessage::set_l_wrist_yaw
void set_l_wrist_yaw(const float new_l_wrist_yaw)
Set l_wrist_yaw value.
Definition: NaoJointPositionInterface.cpp:1846
fawkes::NaoJointPositionInterface::MoveServosMessage::maxlenof_l_hand
size_t maxlenof_l_hand() const
Get maximum length of l_hand value.
Definition: NaoJointPositionInterface.cpp:2880
fawkes::NaoJointPositionInterface::MoveServosMessage::set_l_knee_pitch
void set_l_knee_pitch(const float new_l_knee_pitch)
Set l_knee_pitch value.
Definition: NaoJointPositionInterface.cpp:3010
fawkes::NaoJointPositionInterface::SetServosMessage::maxlenof_r_wrist_yaw
size_t maxlenof_r_wrist_yaw() const
Get maximum length of r_wrist_yaw value.
Definition: NaoJointPositionInterface.cpp:2016
fawkes::NaoJointPositionInterface::maxlenof_r_hand
size_t maxlenof_r_hand() const
Get maximum length of r_hand value.
Definition: NaoJointPositionInterface.cpp:853
fawkes::NaoJointPositionInterface::set_l_wrist_yaw
void set_l_wrist_yaw(const float new_l_wrist_yaw)
Set l_wrist_yaw value.
Definition: NaoJointPositionInterface.cpp:473
fawkes::NaoJointPositionInterface::MoveServoMessage::MoveServoMessage
MoveServoMessage()
Constructor.
Definition: NaoJointPositionInterface.cpp:2318
fawkes::NaoJointPositionInterface::SetServosMessage::set_l_hand
void set_l_hand(const float new_l_hand)
Set l_hand value.
Definition: NaoJointPositionInterface.cpp:1876
fawkes::NaoJointPositionInterface::SetServosMessage::maxlenof_l_hip_yaw_pitch
size_t maxlenof_l_hip_yaw_pitch() const
Get maximum length of l_hip_yaw_pitch value.
Definition: NaoJointPositionInterface.cpp:1656
fawkes::NaoJointPositionInterface::maxlenof_r_hip_pitch
size_t maxlenof_r_hip_pitch() const
Get maximum length of r_hip_pitch value.
Definition: NaoJointPositionInterface.cpp:943
fawkes::NaoJointPositionInterface::l_hand
float l_hand() const
Get l_hand value.
Definition: NaoJointPositionInterface.cpp:483
fawkes::NaoJointPositionInterface::SetServosMessage::maxlenof_r_hip_yaw_pitch
size_t maxlenof_r_hip_yaw_pitch() const
Get maximum length of r_hip_yaw_pitch value.
Definition: NaoJointPositionInterface.cpp:2076
fawkes::NaoJointPositionInterface::SERVO_l_hip_yaw_pitch
static const uint32_t SERVO_l_hip_yaw_pitch
SERVO_l_hip_yaw_pitch constant.
Definition: NaoJointPositionInterface.h:48
fawkes::NaoJointPositionInterface::SERVO_r_ankle_roll
static const uint32_t SERVO_r_ankle_roll
SERVO_r_ankle_roll constant.
Definition: NaoJointPositionInterface.h:65
fawkes::NaoJointPositionInterface::SetServosMessage::maxlenof_l_elbow_roll
size_t maxlenof_l_elbow_roll() const
Get maximum length of l_elbow_roll value.
Definition: NaoJointPositionInterface.cpp:1626
fawkes::NaoJointPositionInterface::maxlenof_r_ankle_roll
size_t maxlenof_r_ankle_roll() const
Get maximum length of r_ankle_roll value.
Definition: NaoJointPositionInterface.cpp:1033
fawkes::NaoJointPositionInterface::MoveServosMessage::set_l_shoulder_roll
void set_l_shoulder_roll(const float new_l_shoulder_roll)
Set l_shoulder_roll value.
Definition: NaoJointPositionInterface.cpp:2770
fawkes::NaoJointPositionInterface::l_shoulder_roll
float l_shoulder_roll() const
Get l_shoulder_roll value.
Definition: NaoJointPositionInterface.cpp:363
fawkes::NaoJointPositionInterface::SetServoMessage::~SetServoMessage
~SetServoMessage()
Destructor.
Definition: NaoJointPositionInterface.cpp:1173
fawkes::NaoJointPositionInterface
NaoJointPositionInterface Fawkes BlackBoard Interface.
Definition: NaoJointPositionInterface.h:34
fawkes::NaoJointPositionInterface::maxlenof_l_wrist_yaw
size_t maxlenof_l_wrist_yaw() const
Get maximum length of l_wrist_yaw value.
Definition: NaoJointPositionInterface.cpp:463
fawkes::NaoJointPositionInterface::MoveServosMessage::maxlenof_l_hip_roll
size_t maxlenof_l_hip_roll() const
Get maximum length of l_hip_roll value.
Definition: NaoJointPositionInterface.cpp:2940
fawkes::NaoJointPositionInterface::MoveServosMessage::maxlenof_r_hip_yaw_pitch
size_t maxlenof_r_hip_yaw_pitch() const
Get maximum length of r_hip_yaw_pitch value.
Definition: NaoJointPositionInterface.cpp:3270
fawkes::NaoJointPositionInterface::SERVO_r_hip_roll
static const uint32_t SERVO_r_hip_roll
SERVO_r_hip_roll constant.
Definition: NaoJointPositionInterface.h:61
fawkes::NaoJointPositionInterface::MoveServosMessage::l_hand
float l_hand() const
Get l_hand value.
Definition: NaoJointPositionInterface.cpp:2870
fawkes::NaoJointPositionInterface::MoveServosMessage::set_l_elbow_roll
void set_l_elbow_roll(const float new_l_elbow_roll)
Set l_elbow_roll value.
Definition: NaoJointPositionInterface.cpp:2830
fawkes::NaoJointPositionInterface::SetServosMessage::set_l_elbow_roll
void set_l_elbow_roll(const float new_l_elbow_roll)
Set l_elbow_roll value.
Definition: NaoJointPositionInterface.cpp:1636
fawkes::NaoJointPositionInterface::MoveServosMessage::maxlenof_speed
size_t maxlenof_speed() const
Get maximum length of speed value.
Definition: NaoJointPositionInterface.cpp:2638
fawkes::NaoJointPositionInterface::maxlenof_r_ankle_pitch
size_t maxlenof_r_ankle_pitch() const
Get maximum length of r_ankle_pitch value.
Definition: NaoJointPositionInterface.cpp:1003
fawkes::NaoJointPositionInterface::MoveServosMessage::set_l_hip_roll
void set_l_hip_roll(const float new_l_hip_roll)
Set l_hip_roll value.
Definition: NaoJointPositionInterface.cpp:2950
fawkes::NaoJointPositionInterface::l_ankle_roll
float l_ankle_roll() const
Get l_ankle_roll value.
Definition: NaoJointPositionInterface.cpp:663
fawkes::NaoJointPositionInterface::SetServosMessage::maxlenof_l_hand
size_t maxlenof_l_hand() const
Get maximum length of l_hand value.
Definition: NaoJointPositionInterface.cpp:1866
fawkes::NaoJointPositionInterface::MoveServoMessage::maxlenof_speed
size_t maxlenof_speed() const
Get maximum length of speed value.
Definition: NaoJointPositionInterface.cpp:2436
fawkes::NaoJointPositionInterface::SERVO_l_elbow_roll
static const uint32_t SERVO_l_elbow_roll
SERVO_l_elbow_roll constant.
Definition: NaoJointPositionInterface.h:45
fawkes::NaoJointPositionInterface::MoveServosMessage::r_hand
float r_hand() const
Get r_hand value.
Definition: NaoJointPositionInterface.cpp:3230
fawkes::NaoJointPositionInterface::l_elbow_yaw
float l_elbow_yaw() const
Get l_elbow_yaw value.
Definition: NaoJointPositionInterface.cpp:393
fawkes::NaoJointPositionInterface::set_l_shoulder_roll
void set_l_shoulder_roll(const float new_l_shoulder_roll)
Set l_shoulder_roll value.
Definition: NaoJointPositionInterface.cpp:383
fawkes::NaoJointPositionInterface::SetServosMessage::set_r_ankle_roll
void set_r_ankle_roll(const float new_r_ankle_roll)
Set r_ankle_roll value.
Definition: NaoJointPositionInterface.cpp:2236
fawkes::NaoJointPositionInterface::MoveServosMessage::maxlenof_r_ankle_pitch
size_t maxlenof_r_ankle_pitch() const
Get maximum length of r_ankle_pitch value.
Definition: NaoJointPositionInterface.cpp:3390
fawkes::NaoJointPositionInterface::MoveServosMessage::maxlenof_l_hip_pitch
size_t maxlenof_l_hip_pitch() const
Get maximum length of l_hip_pitch value.
Definition: NaoJointPositionInterface.cpp:2970
fawkes::NaoJointPositionInterface::SetServosMessage::set_l_elbow_yaw
void set_l_elbow_yaw(const float new_l_elbow_yaw)
Set l_elbow_yaw value.
Definition: NaoJointPositionInterface.cpp:1606
fawkes::NaoJointPositionInterface::set_l_elbow_roll
void set_l_elbow_roll(const float new_l_elbow_roll)
Set l_elbow_roll value.
Definition: NaoJointPositionInterface.cpp:443
fawkes::NaoJointPositionInterface::MoveServosMessage::maxlenof_l_shoulder_roll
size_t maxlenof_l_shoulder_roll() const
Get maximum length of l_shoulder_roll value.
Definition: NaoJointPositionInterface.cpp:2760
fawkes::NaoJointPositionInterface::time
int32_t time() const
Get time value.
Definition: NaoJointPositionInterface.cpp:1057
fawkes::NaoJointPositionInterface::MoveServosMessage::l_elbow_roll
float l_elbow_roll() const
Get l_elbow_roll value.
Definition: NaoJointPositionInterface.cpp:2810
fawkes::NaoJointPositionInterface::SetServosMessage::maxlenof_l_wrist_yaw
size_t maxlenof_l_wrist_yaw() const
Get maximum length of l_wrist_yaw value.
Definition: NaoJointPositionInterface.cpp:1836
fawkes::NaoJointPositionInterface::SetServosMessage::l_hip_pitch
float l_hip_pitch() const
Get l_hip_pitch value.
Definition: NaoJointPositionInterface.cpp:1706
fawkes::NaoJointPositionInterface::SERVO_l_knee_pitch
static const uint32_t SERVO_l_knee_pitch
SERVO_l_knee_pitch constant.
Definition: NaoJointPositionInterface.h:51
fawkes::NaoJointPositionInterface::MoveServosMessage::maxlenof_head_yaw
size_t maxlenof_head_yaw() const
Get maximum length of head_yaw value.
Definition: NaoJointPositionInterface.cpp:2670
fawkes::NaoJointPositionInterface::r_hand
float r_hand() const
Get r_hand value.
Definition: NaoJointPositionInterface.cpp:843
fawkes::NaoJointPositionInterface::SetServosMessage::~SetServosMessage
~SetServosMessage()
Destructor.
Definition: NaoJointPositionInterface.cpp:1443
fawkes::NaoJointPositionInterface::set_l_ankle_roll
void set_l_ankle_roll(const float new_l_ankle_roll)
Set l_ankle_roll value.
Definition: NaoJointPositionInterface.cpp:683
fawkes::NaoJointPositionInterface::SetServoMessage::SetServoMessage
SetServoMessage()
Constructor.
Definition: NaoJointPositionInterface.cpp:1158
fawkes::NaoJointPositionInterface::tostring_RobotType
const char * tostring_RobotType(RobotType value) const
Convert RobotType constant to string.
Definition: NaoJointPositionInterface.cpp:158
fawkes::NaoJointPositionInterface::MoveServosMessage::r_elbow_roll
float r_elbow_roll() const
Get r_elbow_roll value.
Definition: NaoJointPositionInterface.cpp:3170
fawkes::NaoJointPositionInterface::set_l_hand
void set_l_hand(const float new_l_hand)
Set l_hand value.
Definition: NaoJointPositionInterface.cpp:503
fawkes::NaoJointPositionInterface::MoveServosMessage::l_elbow_yaw
float l_elbow_yaw() const
Get l_elbow_yaw value.
Definition: NaoJointPositionInterface.cpp:2780
fawkes::NaoJointPositionInterface::SetServosMessage::maxlenof_time
size_t maxlenof_time() const
Get maximum length of time value.
Definition: NaoJointPositionInterface.cpp:2260
fawkes::NaoJointPositionInterface::SERVO_max
static const uint32_t SERVO_max
SERVO_max constant.
Definition: NaoJointPositionInterface.h:67
fawkes::NaoJointPositionInterface::MoveServosMessage::maxlenof_r_knee_pitch
size_t maxlenof_r_knee_pitch() const
Get maximum length of r_knee_pitch value.
Definition: NaoJointPositionInterface.cpp:3360
fawkes::NaoJointPositionInterface::SetServosMessage::l_elbow_roll
float l_elbow_roll() const
Get l_elbow_roll value.
Definition: NaoJointPositionInterface.cpp:1616
fawkes::NaoJointPositionInterface::SERVO_r_ankle_pitch
static const uint32_t SERVO_r_ankle_pitch
SERVO_r_ankle_pitch constant.
Definition: NaoJointPositionInterface.h:64
fawkes::NaoJointPositionInterface::MoveServoMessage::clone
virtual Message * clone() const
Clone this message.
Definition: NaoJointPositionInterface.cpp:2459
fawkes::NaoJointPositionInterface::MoveServosMessage::set_l_ankle_roll
void set_l_ankle_roll(const float new_l_ankle_roll)
Set l_ankle_roll value.
Definition: NaoJointPositionInterface.cpp:3070
fawkes::NaoJointPositionInterface::set_r_hip_yaw_pitch
void set_r_hip_yaw_pitch(const float new_r_hip_yaw_pitch)
Set r_hip_yaw_pitch value.
Definition: NaoJointPositionInterface.cpp:893
fawkes::NaoJointPositionInterface::maxlenof_l_hip_pitch
size_t maxlenof_l_hip_pitch() const
Get maximum length of l_hip_pitch value.
Definition: NaoJointPositionInterface.cpp:583
fawkes::NaoJointPositionInterface::SERVO_l_elbow_yaw
static const uint32_t SERVO_l_elbow_yaw
SERVO_l_elbow_yaw constant.
Definition: NaoJointPositionInterface.h:44
fawkes::NaoJointPositionInterface::SetServosMessage::l_ankle_pitch
float l_ankle_pitch() const
Get l_ankle_pitch value.
Definition: NaoJointPositionInterface.cpp:1766
fawkes::NaoJointPositionInterface::maxlenof_l_elbow_roll
size_t maxlenof_l_elbow_roll() const
Get maximum length of l_elbow_roll value.
Definition: NaoJointPositionInterface.cpp:433
fawkes::NaoJointPositionInterface::MoveServosMessage::maxlenof_r_elbow_yaw
size_t maxlenof_r_elbow_yaw() const
Get maximum length of r_elbow_yaw value.
Definition: NaoJointPositionInterface.cpp:3150
fawkes::NaoJointPositionInterface::SetServosMessage::maxlenof_l_hip_pitch
size_t maxlenof_l_hip_pitch() const
Get maximum length of l_hip_pitch value.
Definition: NaoJointPositionInterface.cpp:1716
fawkes::NaoJointPositionInterface::maxlenof_l_hand
size_t maxlenof_l_hand() const
Get maximum length of l_hand value.
Definition: NaoJointPositionInterface.cpp:493
fawkes::NaoJointPositionInterface::MoveServosMessage::set_r_ankle_pitch
void set_r_ankle_pitch(const float new_r_ankle_pitch)
Set r_ankle_pitch value.
Definition: NaoJointPositionInterface.cpp:3400
fawkes::NaoJointPositionInterface::MoveServoMessage
MoveServoMessage Fawkes BlackBoard Interface Message.
Definition: NaoJointPositionInterface.h:307
fawkes::NaoJointPositionInterface::message_valid
virtual bool message_valid(const Message *message) const
Check if message is valid and can be enqueued.
Definition: NaoJointPositionInterface.cpp:3450
fawkes::NaoJointPositionInterface::SetServoMessage::set_servo
void set_servo(const uint32_t new_servo)
Set servo value.
Definition: NaoJointPositionInterface.cpp:1220
fawkes::NaoJointPositionInterface::MoveServosMessage::r_hip_pitch
float r_hip_pitch() const
Get r_hip_pitch value.
Definition: NaoJointPositionInterface.cpp:3320
fawkes::NaoJointPositionInterface::SetServosMessage::maxlenof_r_ankle_pitch
size_t maxlenof_r_ankle_pitch() const
Get maximum length of r_ankle_pitch value.
Definition: NaoJointPositionInterface.cpp:2196
fawkes::NaoJointPositionInterface::SetServosMessage::maxlenof_r_hip_roll
size_t maxlenof_r_hip_roll() const
Get maximum length of r_hip_roll value.
Definition: NaoJointPositionInterface.cpp:2106
fawkes::NaoJointPositionInterface::MoveServosMessage::r_ankle_roll
float r_ankle_roll() const
Get r_ankle_roll value.
Definition: NaoJointPositionInterface.cpp:3410
fawkes::NaoJointPositionInterface::MoveServosMessage::maxlenof_l_knee_pitch
size_t maxlenof_l_knee_pitch() const
Get maximum length of l_knee_pitch value.
Definition: NaoJointPositionInterface.cpp:3000
fawkes::NaoJointPositionInterface::ROBOTYPE_ACADEMIC
@ ROBOTYPE_ACADEMIC
Academic version with 25 DoF and touch sensors.
Definition: NaoJointPositionInterface.h:74
fawkes::NaoJointPositionInterface::SetServosMessage::set_l_knee_pitch
void set_l_knee_pitch(const float new_l_knee_pitch)
Set l_knee_pitch value.
Definition: NaoJointPositionInterface.cpp:1756
fawkes::NaoJointPositionInterface::SetServosMessage::l_hip_roll
float l_hip_roll() const
Get l_hip_roll value.
Definition: NaoJointPositionInterface.cpp:1676
fawkes::NaoJointPositionInterface::SetServosMessage::r_elbow_roll
float r_elbow_roll() const
Get r_elbow_roll value.
Definition: NaoJointPositionInterface.cpp:1976
fawkes::NaoJointPositionInterface::SetServosMessage::maxlenof_l_shoulder_roll
size_t maxlenof_l_shoulder_roll() const
Get maximum length of l_shoulder_roll value.
Definition: NaoJointPositionInterface.cpp:1566
fawkes::NaoJointPositionInterface::SetServoMessage::maxlenof_time
size_t maxlenof_time() const
Get maximum length of time value.
Definition: NaoJointPositionInterface.cpp:1274
fawkes::NaoJointPositionInterface::MoveServosMessage::r_shoulder_pitch
float r_shoulder_pitch() const
Get r_shoulder_pitch value.
Definition: NaoJointPositionInterface.cpp:3080
fawkes::NaoJointPositionInterface::MoveServosMessage::r_hip_roll
float r_hip_roll() const
Get r_hip_roll value.
Definition: NaoJointPositionInterface.cpp:3290
fawkes::NaoJointPositionInterface::SERVO_head_yaw
static const uint32_t SERVO_head_yaw
SERVO_head_yaw constant.
Definition: NaoJointPositionInterface.h:40
fawkes::NaoJointPositionInterface::MoveServosMessage::set_l_hip_yaw_pitch
void set_l_hip_yaw_pitch(const float new_l_hip_yaw_pitch)
Set l_hip_yaw_pitch value.
Definition: NaoJointPositionInterface.cpp:2920
fawkes::NaoJointPositionInterface::SERVO_r_elbow_yaw
static const uint32_t SERVO_r_elbow_yaw
SERVO_r_elbow_yaw constant.
Definition: NaoJointPositionInterface.h:56