24 #include <interfaces/NaoJointPositionInterface.h>
26 #include <core/exceptions/software.h>
102 NaoJointPositionInterface::NaoJointPositionInterface() : Interface()
104 data_size =
sizeof(NaoJointPositionInterface_data_t);
105 data_ptr = malloc(data_size);
106 data = (NaoJointPositionInterface_data_t *)data_ptr;
107 data_ts = (interface_data_ts_t *)data_ptr;
108 memset(data_ptr, 0, data_size);
109 enum_map_RobotType[(int)ROBOTYPE_ACADEMIC] =
"ROBOTYPE_ACADEMIC";
110 enum_map_RobotType[(int)ROBOTYPE_ROBOCUP] =
"ROBOTYPE_ROBOCUP";
111 add_fieldinfo(IFT_ENUM,
"robot_type", 1, &data->robot_type,
"RobotType", &enum_map_RobotType);
112 add_fieldinfo(IFT_UINT8,
"robot_version", 4, &data->robot_version);
113 add_fieldinfo(IFT_FLOAT,
"head_yaw", 1, &data->head_yaw);
114 add_fieldinfo(IFT_FLOAT,
"head_pitch", 1, &data->head_pitch);
115 add_fieldinfo(IFT_FLOAT,
"l_shoulder_pitch", 1, &data->l_shoulder_pitch);
116 add_fieldinfo(IFT_FLOAT,
"l_shoulder_roll", 1, &data->l_shoulder_roll);
117 add_fieldinfo(IFT_FLOAT,
"l_elbow_yaw", 1, &data->l_elbow_yaw);
118 add_fieldinfo(IFT_FLOAT,
"l_elbow_roll", 1, &data->l_elbow_roll);
119 add_fieldinfo(IFT_FLOAT,
"l_wrist_yaw", 1, &data->l_wrist_yaw);
120 add_fieldinfo(IFT_FLOAT,
"l_hand", 1, &data->l_hand);
121 add_fieldinfo(IFT_FLOAT,
"l_hip_yaw_pitch", 1, &data->l_hip_yaw_pitch);
122 add_fieldinfo(IFT_FLOAT,
"l_hip_roll", 1, &data->l_hip_roll);
123 add_fieldinfo(IFT_FLOAT,
"l_hip_pitch", 1, &data->l_hip_pitch);
124 add_fieldinfo(IFT_FLOAT,
"l_knee_pitch", 1, &data->l_knee_pitch);
125 add_fieldinfo(IFT_FLOAT,
"l_ankle_pitch", 1, &data->l_ankle_pitch);
126 add_fieldinfo(IFT_FLOAT,
"l_ankle_roll", 1, &data->l_ankle_roll);
127 add_fieldinfo(IFT_FLOAT,
"r_shoulder_pitch", 1, &data->r_shoulder_pitch);
128 add_fieldinfo(IFT_FLOAT,
"r_shoulder_roll", 1, &data->r_shoulder_roll);
129 add_fieldinfo(IFT_FLOAT,
"r_elbow_yaw", 1, &data->r_elbow_yaw);
130 add_fieldinfo(IFT_FLOAT,
"r_elbow_roll", 1, &data->r_elbow_roll);
131 add_fieldinfo(IFT_FLOAT,
"r_wrist_yaw", 1, &data->r_wrist_yaw);
132 add_fieldinfo(IFT_FLOAT,
"r_hand", 1, &data->r_hand);
133 add_fieldinfo(IFT_FLOAT,
"r_hip_yaw_pitch", 1, &data->r_hip_yaw_pitch);
134 add_fieldinfo(IFT_FLOAT,
"r_hip_roll", 1, &data->r_hip_roll);
135 add_fieldinfo(IFT_FLOAT,
"r_hip_pitch", 1, &data->r_hip_pitch);
136 add_fieldinfo(IFT_FLOAT,
"r_knee_pitch", 1, &data->r_knee_pitch);
137 add_fieldinfo(IFT_FLOAT,
"r_ankle_pitch", 1, &data->r_ankle_pitch);
138 add_fieldinfo(IFT_FLOAT,
"r_ankle_roll", 1, &data->r_ankle_roll);
139 add_fieldinfo(IFT_INT32,
"time", 1, &data->time);
140 add_messageinfo(
"SetServoMessage");
141 add_messageinfo(
"SetServosMessage");
142 add_messageinfo(
"MoveServoMessage");
143 add_messageinfo(
"MoveServosMessage");
144 unsigned char tmp_hash[] = {0x87, 0x3b, 0x41, 0x5d, 0x94, 0x57, 0x82, 0x55, 0x3, 0xbb, 0x3e, 0xf, 0x89, 0x50, 0x6b, 0x46};
149 NaoJointPositionInterface::~NaoJointPositionInterface()
158 NaoJointPositionInterface::tostring_RobotType(
RobotType value)
const
161 case ROBOTYPE_ACADEMIC:
return "ROBOTYPE_ACADEMIC";
162 case ROBOTYPE_ROBOCUP:
return "ROBOTYPE_ROBOCUP";
163 default:
return "UNKNOWN";
172 NaoJointPositionInterface::robot_type()
const
182 NaoJointPositionInterface::maxlenof_robot_type()
const
192 NaoJointPositionInterface::set_robot_type(
const RobotType new_robot_type)
194 data_changed |=
change_field(data->robot_type, new_robot_type);
206 NaoJointPositionInterface::robot_version()
const
208 return data->robot_version;
222 NaoJointPositionInterface::robot_version(
unsigned int index)
const
225 throw Exception(
"Index value %u out of bounds (0..3)", index);
227 return data->robot_version[index];
235 NaoJointPositionInterface::maxlenof_robot_version()
const
249 NaoJointPositionInterface::set_robot_version(
const uint8_t * new_robot_version)
251 data_changed |=
change_field(data->robot_version, new_robot_version);
264 NaoJointPositionInterface::set_robot_version(
unsigned int index,
const uint8_t new_robot_version)
266 data_changed |=
change_field(data->robot_version, index, new_robot_version);
273 NaoJointPositionInterface::head_yaw()
const
275 return data->head_yaw;
283 NaoJointPositionInterface::maxlenof_head_yaw()
const
293 NaoJointPositionInterface::set_head_yaw(
const float new_head_yaw)
295 data_changed |=
change_field(data->head_yaw, new_head_yaw);
303 NaoJointPositionInterface::head_pitch()
const
305 return data->head_pitch;
313 NaoJointPositionInterface::maxlenof_head_pitch()
const
323 NaoJointPositionInterface::set_head_pitch(
const float new_head_pitch)
325 data_changed |=
change_field(data->head_pitch, new_head_pitch);
333 NaoJointPositionInterface::l_shoulder_pitch()
const
335 return data->l_shoulder_pitch;
343 NaoJointPositionInterface::maxlenof_l_shoulder_pitch()
const
353 NaoJointPositionInterface::set_l_shoulder_pitch(
const float new_l_shoulder_pitch)
355 data_changed |=
change_field(data->l_shoulder_pitch, new_l_shoulder_pitch);
363 NaoJointPositionInterface::l_shoulder_roll()
const
365 return data->l_shoulder_roll;
373 NaoJointPositionInterface::maxlenof_l_shoulder_roll()
const
383 NaoJointPositionInterface::set_l_shoulder_roll(
const float new_l_shoulder_roll)
385 data_changed |=
change_field(data->l_shoulder_roll, new_l_shoulder_roll);
393 NaoJointPositionInterface::l_elbow_yaw()
const
395 return data->l_elbow_yaw;
403 NaoJointPositionInterface::maxlenof_l_elbow_yaw()
const
413 NaoJointPositionInterface::set_l_elbow_yaw(
const float new_l_elbow_yaw)
415 data_changed |=
change_field(data->l_elbow_yaw, new_l_elbow_yaw);
423 NaoJointPositionInterface::l_elbow_roll()
const
425 return data->l_elbow_roll;
433 NaoJointPositionInterface::maxlenof_l_elbow_roll()
const
443 NaoJointPositionInterface::set_l_elbow_roll(
const float new_l_elbow_roll)
445 data_changed |=
change_field(data->l_elbow_roll, new_l_elbow_roll);
453 NaoJointPositionInterface::l_wrist_yaw()
const
455 return data->l_wrist_yaw;
463 NaoJointPositionInterface::maxlenof_l_wrist_yaw()
const
473 NaoJointPositionInterface::set_l_wrist_yaw(
const float new_l_wrist_yaw)
475 data_changed |=
change_field(data->l_wrist_yaw, new_l_wrist_yaw);
483 NaoJointPositionInterface::l_hand()
const
493 NaoJointPositionInterface::maxlenof_l_hand()
const
503 NaoJointPositionInterface::set_l_hand(
const float new_l_hand)
513 NaoJointPositionInterface::l_hip_yaw_pitch()
const
515 return data->l_hip_yaw_pitch;
523 NaoJointPositionInterface::maxlenof_l_hip_yaw_pitch()
const
533 NaoJointPositionInterface::set_l_hip_yaw_pitch(
const float new_l_hip_yaw_pitch)
535 data_changed |=
change_field(data->l_hip_yaw_pitch, new_l_hip_yaw_pitch);
543 NaoJointPositionInterface::l_hip_roll()
const
545 return data->l_hip_roll;
553 NaoJointPositionInterface::maxlenof_l_hip_roll()
const
563 NaoJointPositionInterface::set_l_hip_roll(
const float new_l_hip_roll)
565 data_changed |=
change_field(data->l_hip_roll, new_l_hip_roll);
573 NaoJointPositionInterface::l_hip_pitch()
const
575 return data->l_hip_pitch;
583 NaoJointPositionInterface::maxlenof_l_hip_pitch()
const
593 NaoJointPositionInterface::set_l_hip_pitch(
const float new_l_hip_pitch)
595 data_changed |=
change_field(data->l_hip_pitch, new_l_hip_pitch);
603 NaoJointPositionInterface::l_knee_pitch()
const
605 return data->l_knee_pitch;
613 NaoJointPositionInterface::maxlenof_l_knee_pitch()
const
623 NaoJointPositionInterface::set_l_knee_pitch(
const float new_l_knee_pitch)
625 data_changed |=
change_field(data->l_knee_pitch, new_l_knee_pitch);
633 NaoJointPositionInterface::l_ankle_pitch()
const
635 return data->l_ankle_pitch;
643 NaoJointPositionInterface::maxlenof_l_ankle_pitch()
const
653 NaoJointPositionInterface::set_l_ankle_pitch(
const float new_l_ankle_pitch)
655 data_changed |=
change_field(data->l_ankle_pitch, new_l_ankle_pitch);
663 NaoJointPositionInterface::l_ankle_roll()
const
665 return data->l_ankle_roll;
673 NaoJointPositionInterface::maxlenof_l_ankle_roll()
const
683 NaoJointPositionInterface::set_l_ankle_roll(
const float new_l_ankle_roll)
685 data_changed |=
change_field(data->l_ankle_roll, new_l_ankle_roll);
693 NaoJointPositionInterface::r_shoulder_pitch()
const
695 return data->r_shoulder_pitch;
703 NaoJointPositionInterface::maxlenof_r_shoulder_pitch()
const
713 NaoJointPositionInterface::set_r_shoulder_pitch(
const float new_r_shoulder_pitch)
715 data_changed |=
change_field(data->r_shoulder_pitch, new_r_shoulder_pitch);
723 NaoJointPositionInterface::r_shoulder_roll()
const
725 return data->r_shoulder_roll;
733 NaoJointPositionInterface::maxlenof_r_shoulder_roll()
const
743 NaoJointPositionInterface::set_r_shoulder_roll(
const float new_r_shoulder_roll)
745 data_changed |=
change_field(data->r_shoulder_roll, new_r_shoulder_roll);
753 NaoJointPositionInterface::r_elbow_yaw()
const
755 return data->r_elbow_yaw;
763 NaoJointPositionInterface::maxlenof_r_elbow_yaw()
const
773 NaoJointPositionInterface::set_r_elbow_yaw(
const float new_r_elbow_yaw)
775 data_changed |=
change_field(data->r_elbow_yaw, new_r_elbow_yaw);
783 NaoJointPositionInterface::r_elbow_roll()
const
785 return data->r_elbow_roll;
793 NaoJointPositionInterface::maxlenof_r_elbow_roll()
const
803 NaoJointPositionInterface::set_r_elbow_roll(
const float new_r_elbow_roll)
805 data_changed |=
change_field(data->r_elbow_roll, new_r_elbow_roll);
813 NaoJointPositionInterface::r_wrist_yaw()
const
815 return data->r_wrist_yaw;
823 NaoJointPositionInterface::maxlenof_r_wrist_yaw()
const
833 NaoJointPositionInterface::set_r_wrist_yaw(
const float new_r_wrist_yaw)
835 data_changed |=
change_field(data->r_wrist_yaw, new_r_wrist_yaw);
843 NaoJointPositionInterface::r_hand()
const
853 NaoJointPositionInterface::maxlenof_r_hand()
const
863 NaoJointPositionInterface::set_r_hand(
const float new_r_hand)
873 NaoJointPositionInterface::r_hip_yaw_pitch()
const
875 return data->r_hip_yaw_pitch;
883 NaoJointPositionInterface::maxlenof_r_hip_yaw_pitch()
const
893 NaoJointPositionInterface::set_r_hip_yaw_pitch(
const float new_r_hip_yaw_pitch)
895 data_changed |=
change_field(data->r_hip_yaw_pitch, new_r_hip_yaw_pitch);
903 NaoJointPositionInterface::r_hip_roll()
const
905 return data->r_hip_roll;
913 NaoJointPositionInterface::maxlenof_r_hip_roll()
const
923 NaoJointPositionInterface::set_r_hip_roll(
const float new_r_hip_roll)
925 data_changed |=
change_field(data->r_hip_roll, new_r_hip_roll);
933 NaoJointPositionInterface::r_hip_pitch()
const
935 return data->r_hip_pitch;
943 NaoJointPositionInterface::maxlenof_r_hip_pitch()
const
953 NaoJointPositionInterface::set_r_hip_pitch(
const float new_r_hip_pitch)
955 data_changed |=
change_field(data->r_hip_pitch, new_r_hip_pitch);
963 NaoJointPositionInterface::r_knee_pitch()
const
965 return data->r_knee_pitch;
973 NaoJointPositionInterface::maxlenof_r_knee_pitch()
const
983 NaoJointPositionInterface::set_r_knee_pitch(
const float new_r_knee_pitch)
985 data_changed |=
change_field(data->r_knee_pitch, new_r_knee_pitch);
993 NaoJointPositionInterface::r_ankle_pitch()
const
995 return data->r_ankle_pitch;
1003 NaoJointPositionInterface::maxlenof_r_ankle_pitch()
const
1013 NaoJointPositionInterface::set_r_ankle_pitch(
const float new_r_ankle_pitch)
1015 data_changed |=
change_field(data->r_ankle_pitch, new_r_ankle_pitch);
1023 NaoJointPositionInterface::r_ankle_roll()
const
1025 return data->r_ankle_roll;
1033 NaoJointPositionInterface::maxlenof_r_ankle_roll()
const
1043 NaoJointPositionInterface::set_r_ankle_roll(
const float new_r_ankle_roll)
1045 data_changed |=
change_field(data->r_ankle_roll, new_r_ankle_roll);
1057 NaoJointPositionInterface::time()
const
1067 NaoJointPositionInterface::maxlenof_time()
const
1081 NaoJointPositionInterface::set_time(
const int32_t new_time)
1088 NaoJointPositionInterface::create_message(
const char *type)
const
1090 if ( strncmp(
"SetServoMessage", type, INTERFACE_MESSAGE_TYPE_SIZE_ - 1) == 0 ) {
1092 }
else if ( strncmp(
"SetServosMessage", type, INTERFACE_MESSAGE_TYPE_SIZE_ - 1) == 0 ) {
1094 }
else if ( strncmp(
"MoveServoMessage", type, INTERFACE_MESSAGE_TYPE_SIZE_ - 1) == 0 ) {
1096 }
else if ( strncmp(
"MoveServosMessage", type, INTERFACE_MESSAGE_TYPE_SIZE_ - 1) == 0 ) {
1100 "message type for this interface type.", type);
1109 NaoJointPositionInterface::copy_values(
const Interface *other)
1114 type(), other->
type());
1116 memcpy(data, oi->data,
sizeof(NaoJointPositionInterface_data_t));
1120 NaoJointPositionInterface::enum_tostring(
const char *enumtype,
int val)
const
1122 if (strcmp(enumtype,
"RobotType") == 0) {
1123 return tostring_RobotType((
RobotType)val);
1141 NaoJointPositionInterface::SetServoMessage::SetServoMessage(
const uint32_t ini_servo,
const float ini_value,
const int32_t ini_time) :
Message(
"SetServoMessage")
1143 data_size =
sizeof(SetServoMessage_data_t);
1146 data = (SetServoMessage_data_t *)
data_ptr;
1148 data->servo = ini_servo;
1149 data->value = ini_value;
1150 data->time = ini_time;
1160 data_size =
sizeof(SetServoMessage_data_t);
1163 data = (SetServoMessage_data_t *)
data_ptr;
1186 data = (SetServoMessage_data_t *)
data_ptr;
1339 NaoJointPositionInterface::SetServosMessage::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) :
Message(
"SetServosMessage")
1341 data_size =
sizeof(SetServosMessage_data_t);
1344 data = (SetServosMessage_data_t *)
data_ptr;
1346 data->head_yaw = ini_head_yaw;
1347 data->head_pitch = ini_head_pitch;
1348 data->l_shoulder_pitch = ini_l_shoulder_pitch;
1349 data->l_shoulder_roll = ini_l_shoulder_roll;
1350 data->l_elbow_yaw = ini_l_elbow_yaw;
1351 data->l_elbow_roll = ini_l_elbow_roll;
1352 data->l_hip_yaw_pitch = ini_l_hip_yaw_pitch;
1353 data->l_hip_roll = ini_l_hip_roll;
1354 data->l_hip_pitch = ini_l_hip_pitch;
1355 data->l_knee_pitch = ini_l_knee_pitch;
1356 data->l_ankle_pitch = ini_l_ankle_pitch;
1357 data->l_ankle_roll = ini_l_ankle_roll;
1358 data->l_wrist_yaw = ini_l_wrist_yaw;
1359 data->l_hand = ini_l_hand;
1360 data->r_shoulder_pitch = ini_r_shoulder_pitch;
1361 data->r_shoulder_roll = ini_r_shoulder_roll;
1362 data->r_elbow_yaw = ini_r_elbow_yaw;
1363 data->r_elbow_roll = ini_r_elbow_roll;
1364 data->r_wrist_yaw = ini_r_wrist_yaw;
1365 data->r_hand = ini_r_hand;
1366 data->r_hip_yaw_pitch = ini_r_hip_yaw_pitch;
1367 data->r_hip_roll = ini_r_hip_roll;
1368 data->r_hip_pitch = ini_r_hip_pitch;
1369 data->r_knee_pitch = ini_r_knee_pitch;
1370 data->r_ankle_pitch = ini_r_ankle_pitch;
1371 data->r_ankle_roll = ini_r_ankle_roll;
1372 data->time = ini_time;
1406 data_size =
sizeof(SetServosMessage_data_t);
1409 data = (SetServosMessage_data_t *)
data_ptr;
1456 data = (SetServosMessage_data_t *)
data_ptr;
1468 return data->head_yaw;
1498 return data->head_pitch;
1528 return data->l_shoulder_pitch;
1548 change_field(data->l_shoulder_pitch, new_l_shoulder_pitch);
1558 return data->l_shoulder_roll;
1578 change_field(data->l_shoulder_roll, new_l_shoulder_roll);
1588 return data->l_elbow_yaw;
1618 return data->l_elbow_roll;
1648 return data->l_hip_yaw_pitch;
1668 change_field(data->l_hip_yaw_pitch, new_l_hip_yaw_pitch);
1678 return data->l_hip_roll;
1708 return data->l_hip_pitch;
1738 return data->l_knee_pitch;
1768 return data->l_ankle_pitch;
1798 return data->l_ankle_roll;
1828 return data->l_wrist_yaw;
1858 return data->l_hand;
1888 return data->r_shoulder_pitch;
1908 change_field(data->r_shoulder_pitch, new_r_shoulder_pitch);
1918 return data->r_shoulder_roll;
1938 change_field(data->r_shoulder_roll, new_r_shoulder_roll);
1948 return data->r_elbow_yaw;
1978 return data->r_elbow_roll;
2008 return data->r_wrist_yaw;
2038 return data->r_hand;
2068 return data->r_hip_yaw_pitch;
2088 change_field(data->r_hip_yaw_pitch, new_r_hip_yaw_pitch);
2098 return data->r_hip_roll;
2128 return data->r_hip_pitch;
2158 return data->r_knee_pitch;
2188 return data->r_ankle_pitch;
2218 return data->r_ankle_roll;
2303 data_size =
sizeof(MoveServoMessage_data_t);
2306 data = (MoveServoMessage_data_t *)
data_ptr;
2308 data->servo = ini_servo;
2309 data->value = ini_value;
2310 data->speed = ini_speed;
2320 data_size =
sizeof(MoveServoMessage_data_t);
2323 data = (MoveServoMessage_data_t *)
data_ptr;
2346 data = (MoveServoMessage_data_t *)
data_ptr;
2499 NaoJointPositionInterface::MoveServosMessage::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) :
Message(
"MoveServosMessage")
2501 data_size =
sizeof(MoveServosMessage_data_t);
2504 data = (MoveServosMessage_data_t *)
data_ptr;
2506 data->speed = ini_speed;
2507 data->head_yaw = ini_head_yaw;
2508 data->head_pitch = ini_head_pitch;
2509 data->l_shoulder_pitch = ini_l_shoulder_pitch;
2510 data->l_shoulder_roll = ini_l_shoulder_roll;
2511 data->l_elbow_yaw = ini_l_elbow_yaw;
2512 data->l_elbow_roll = ini_l_elbow_roll;
2513 data->l_wrist_yaw = ini_l_wrist_yaw;
2514 data->l_hand = ini_l_hand;
2515 data->l_hip_yaw_pitch = ini_l_hip_yaw_pitch;
2516 data->l_hip_roll = ini_l_hip_roll;
2517 data->l_hip_pitch = ini_l_hip_pitch;
2518 data->l_knee_pitch = ini_l_knee_pitch;
2519 data->l_ankle_pitch = ini_l_ankle_pitch;
2520 data->l_ankle_roll = ini_l_ankle_roll;
2521 data->r_shoulder_pitch = ini_r_shoulder_pitch;
2522 data->r_shoulder_roll = ini_r_shoulder_roll;
2523 data->r_elbow_yaw = ini_r_elbow_yaw;
2524 data->r_elbow_roll = ini_r_elbow_roll;
2525 data->r_wrist_yaw = ini_r_wrist_yaw;
2526 data->r_hand = ini_r_hand;
2527 data->r_hip_yaw_pitch = ini_r_hip_yaw_pitch;
2528 data->r_hip_roll = ini_r_hip_roll;
2529 data->r_hip_pitch = ini_r_hip_pitch;
2530 data->r_knee_pitch = ini_r_knee_pitch;
2531 data->r_ankle_pitch = ini_r_ankle_pitch;
2532 data->r_ankle_roll = ini_r_ankle_roll;
2566 data_size =
sizeof(MoveServosMessage_data_t);
2569 data = (MoveServosMessage_data_t *)
data_ptr;
2616 data = (MoveServosMessage_data_t *)
data_ptr;
2662 return data->head_yaw;
2692 return data->head_pitch;
2722 return data->l_shoulder_pitch;
2742 change_field(data->l_shoulder_pitch, new_l_shoulder_pitch);
2752 return data->l_shoulder_roll;
2772 change_field(data->l_shoulder_roll, new_l_shoulder_roll);
2782 return data->l_elbow_yaw;
2812 return data->l_elbow_roll;
2842 return data->l_wrist_yaw;
2872 return data->l_hand;
2902 return data->l_hip_yaw_pitch;
2922 change_field(data->l_hip_yaw_pitch, new_l_hip_yaw_pitch);
2932 return data->l_hip_roll;
2962 return data->l_hip_pitch;
2992 return data->l_knee_pitch;
3022 return data->l_ankle_pitch;
3052 return data->l_ankle_roll;
3082 return data->r_shoulder_pitch;
3102 change_field(data->r_shoulder_pitch, new_r_shoulder_pitch);
3112 return data->r_shoulder_roll;
3132 change_field(data->r_shoulder_roll, new_r_shoulder_roll);
3142 return data->r_elbow_yaw;
3172 return data->r_elbow_roll;
3202 return data->r_wrist_yaw;
3232 return data->r_hand;
3262 return data->r_hip_yaw_pitch;
3282 change_field(data->r_hip_yaw_pitch, new_r_hip_yaw_pitch);
3292 return data->r_hip_roll;
3322 return data->r_hip_pitch;
3352 return data->r_knee_pitch;
3382 return data->r_ankle_pitch;
3412 return data->r_ankle_roll;