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";
171 NaoJointPositionInterface::RobotType
172 NaoJointPositionInterface::robot_type()
const
174 return (NaoJointPositionInterface::RobotType)data->robot_type;
182 NaoJointPositionInterface::maxlenof_robot_type()
const
192 NaoJointPositionInterface::set_robot_type(
const RobotType new_robot_type)
194 data->robot_type = new_robot_type;
207 NaoJointPositionInterface::robot_version()
const
209 return data->robot_version;
223 NaoJointPositionInterface::robot_version(
unsigned int index)
const
226 throw Exception(
"Index value %u out of bounds (0..3)", index);
228 return data->robot_version[index];
236 NaoJointPositionInterface::maxlenof_robot_version()
const
250 NaoJointPositionInterface::set_robot_version(
const uint8_t * new_robot_version)
252 memcpy(data->robot_version, new_robot_version,
sizeof(uint8_t) * 4);
266 NaoJointPositionInterface::set_robot_version(
unsigned int index,
const uint8_t new_robot_version)
269 throw Exception(
"Index value %u out of bounds (0..3)", index);
271 data->robot_version[index] = new_robot_version;
279 NaoJointPositionInterface::head_yaw()
const
281 return data->head_yaw;
289 NaoJointPositionInterface::maxlenof_head_yaw()
const
299 NaoJointPositionInterface::set_head_yaw(
const float new_head_yaw)
301 data->head_yaw = new_head_yaw;
310 NaoJointPositionInterface::head_pitch()
const
312 return data->head_pitch;
320 NaoJointPositionInterface::maxlenof_head_pitch()
const
330 NaoJointPositionInterface::set_head_pitch(
const float new_head_pitch)
332 data->head_pitch = new_head_pitch;
341 NaoJointPositionInterface::l_shoulder_pitch()
const
343 return data->l_shoulder_pitch;
351 NaoJointPositionInterface::maxlenof_l_shoulder_pitch()
const
361 NaoJointPositionInterface::set_l_shoulder_pitch(
const float new_l_shoulder_pitch)
363 data->l_shoulder_pitch = new_l_shoulder_pitch;
372 NaoJointPositionInterface::l_shoulder_roll()
const
374 return data->l_shoulder_roll;
382 NaoJointPositionInterface::maxlenof_l_shoulder_roll()
const
392 NaoJointPositionInterface::set_l_shoulder_roll(
const float new_l_shoulder_roll)
394 data->l_shoulder_roll = new_l_shoulder_roll;
403 NaoJointPositionInterface::l_elbow_yaw()
const
405 return data->l_elbow_yaw;
413 NaoJointPositionInterface::maxlenof_l_elbow_yaw()
const
423 NaoJointPositionInterface::set_l_elbow_yaw(
const float new_l_elbow_yaw)
425 data->l_elbow_yaw = new_l_elbow_yaw;
434 NaoJointPositionInterface::l_elbow_roll()
const
436 return data->l_elbow_roll;
444 NaoJointPositionInterface::maxlenof_l_elbow_roll()
const
454 NaoJointPositionInterface::set_l_elbow_roll(
const float new_l_elbow_roll)
456 data->l_elbow_roll = new_l_elbow_roll;
465 NaoJointPositionInterface::l_wrist_yaw()
const
467 return data->l_wrist_yaw;
475 NaoJointPositionInterface::maxlenof_l_wrist_yaw()
const
485 NaoJointPositionInterface::set_l_wrist_yaw(
const float new_l_wrist_yaw)
487 data->l_wrist_yaw = new_l_wrist_yaw;
496 NaoJointPositionInterface::l_hand()
const
506 NaoJointPositionInterface::maxlenof_l_hand()
const
516 NaoJointPositionInterface::set_l_hand(
const float new_l_hand)
518 data->l_hand = new_l_hand;
527 NaoJointPositionInterface::l_hip_yaw_pitch()
const
529 return data->l_hip_yaw_pitch;
537 NaoJointPositionInterface::maxlenof_l_hip_yaw_pitch()
const
547 NaoJointPositionInterface::set_l_hip_yaw_pitch(
const float new_l_hip_yaw_pitch)
549 data->l_hip_yaw_pitch = new_l_hip_yaw_pitch;
558 NaoJointPositionInterface::l_hip_roll()
const
560 return data->l_hip_roll;
568 NaoJointPositionInterface::maxlenof_l_hip_roll()
const
578 NaoJointPositionInterface::set_l_hip_roll(
const float new_l_hip_roll)
580 data->l_hip_roll = new_l_hip_roll;
589 NaoJointPositionInterface::l_hip_pitch()
const
591 return data->l_hip_pitch;
599 NaoJointPositionInterface::maxlenof_l_hip_pitch()
const
609 NaoJointPositionInterface::set_l_hip_pitch(
const float new_l_hip_pitch)
611 data->l_hip_pitch = new_l_hip_pitch;
620 NaoJointPositionInterface::l_knee_pitch()
const
622 return data->l_knee_pitch;
630 NaoJointPositionInterface::maxlenof_l_knee_pitch()
const
640 NaoJointPositionInterface::set_l_knee_pitch(
const float new_l_knee_pitch)
642 data->l_knee_pitch = new_l_knee_pitch;
651 NaoJointPositionInterface::l_ankle_pitch()
const
653 return data->l_ankle_pitch;
661 NaoJointPositionInterface::maxlenof_l_ankle_pitch()
const
671 NaoJointPositionInterface::set_l_ankle_pitch(
const float new_l_ankle_pitch)
673 data->l_ankle_pitch = new_l_ankle_pitch;
682 NaoJointPositionInterface::l_ankle_roll()
const
684 return data->l_ankle_roll;
692 NaoJointPositionInterface::maxlenof_l_ankle_roll()
const
702 NaoJointPositionInterface::set_l_ankle_roll(
const float new_l_ankle_roll)
704 data->l_ankle_roll = new_l_ankle_roll;
713 NaoJointPositionInterface::r_shoulder_pitch()
const
715 return data->r_shoulder_pitch;
723 NaoJointPositionInterface::maxlenof_r_shoulder_pitch()
const
733 NaoJointPositionInterface::set_r_shoulder_pitch(
const float new_r_shoulder_pitch)
735 data->r_shoulder_pitch = new_r_shoulder_pitch;
744 NaoJointPositionInterface::r_shoulder_roll()
const
746 return data->r_shoulder_roll;
754 NaoJointPositionInterface::maxlenof_r_shoulder_roll()
const
764 NaoJointPositionInterface::set_r_shoulder_roll(
const float new_r_shoulder_roll)
766 data->r_shoulder_roll = new_r_shoulder_roll;
775 NaoJointPositionInterface::r_elbow_yaw()
const
777 return data->r_elbow_yaw;
785 NaoJointPositionInterface::maxlenof_r_elbow_yaw()
const
795 NaoJointPositionInterface::set_r_elbow_yaw(
const float new_r_elbow_yaw)
797 data->r_elbow_yaw = new_r_elbow_yaw;
806 NaoJointPositionInterface::r_elbow_roll()
const
808 return data->r_elbow_roll;
816 NaoJointPositionInterface::maxlenof_r_elbow_roll()
const
826 NaoJointPositionInterface::set_r_elbow_roll(
const float new_r_elbow_roll)
828 data->r_elbow_roll = new_r_elbow_roll;
837 NaoJointPositionInterface::r_wrist_yaw()
const
839 return data->r_wrist_yaw;
847 NaoJointPositionInterface::maxlenof_r_wrist_yaw()
const
857 NaoJointPositionInterface::set_r_wrist_yaw(
const float new_r_wrist_yaw)
859 data->r_wrist_yaw = new_r_wrist_yaw;
868 NaoJointPositionInterface::r_hand()
const
878 NaoJointPositionInterface::maxlenof_r_hand()
const
888 NaoJointPositionInterface::set_r_hand(
const float new_r_hand)
890 data->r_hand = new_r_hand;
899 NaoJointPositionInterface::r_hip_yaw_pitch()
const
901 return data->r_hip_yaw_pitch;
909 NaoJointPositionInterface::maxlenof_r_hip_yaw_pitch()
const
919 NaoJointPositionInterface::set_r_hip_yaw_pitch(
const float new_r_hip_yaw_pitch)
921 data->r_hip_yaw_pitch = new_r_hip_yaw_pitch;
930 NaoJointPositionInterface::r_hip_roll()
const
932 return data->r_hip_roll;
940 NaoJointPositionInterface::maxlenof_r_hip_roll()
const
950 NaoJointPositionInterface::set_r_hip_roll(
const float new_r_hip_roll)
952 data->r_hip_roll = new_r_hip_roll;
961 NaoJointPositionInterface::r_hip_pitch()
const
963 return data->r_hip_pitch;
971 NaoJointPositionInterface::maxlenof_r_hip_pitch()
const
981 NaoJointPositionInterface::set_r_hip_pitch(
const float new_r_hip_pitch)
983 data->r_hip_pitch = new_r_hip_pitch;
992 NaoJointPositionInterface::r_knee_pitch()
const
994 return data->r_knee_pitch;
1002 NaoJointPositionInterface::maxlenof_r_knee_pitch()
const
1012 NaoJointPositionInterface::set_r_knee_pitch(
const float new_r_knee_pitch)
1014 data->r_knee_pitch = new_r_knee_pitch;
1015 data_changed =
true;
1023 NaoJointPositionInterface::r_ankle_pitch()
const
1025 return data->r_ankle_pitch;
1033 NaoJointPositionInterface::maxlenof_r_ankle_pitch()
const
1043 NaoJointPositionInterface::set_r_ankle_pitch(
const float new_r_ankle_pitch)
1045 data->r_ankle_pitch = new_r_ankle_pitch;
1046 data_changed =
true;
1054 NaoJointPositionInterface::r_ankle_roll()
const
1056 return data->r_ankle_roll;
1064 NaoJointPositionInterface::maxlenof_r_ankle_roll()
const
1074 NaoJointPositionInterface::set_r_ankle_roll(
const float new_r_ankle_roll)
1076 data->r_ankle_roll = new_r_ankle_roll;
1077 data_changed =
true;
1089 NaoJointPositionInterface::time()
const
1099 NaoJointPositionInterface::maxlenof_time()
const
1113 NaoJointPositionInterface::set_time(
const int32_t new_time)
1115 data->time = new_time;
1116 data_changed =
true;
1121 NaoJointPositionInterface::create_message(
const char *type)
const
1123 if ( strncmp(
"SetServoMessage", type, INTERFACE_MESSAGE_TYPE_SIZE_ - 1) == 0 ) {
1124 return new SetServoMessage();
1125 }
else if ( strncmp(
"SetServosMessage", type, INTERFACE_MESSAGE_TYPE_SIZE_ - 1) == 0 ) {
1126 return new SetServosMessage();
1127 }
else if ( strncmp(
"MoveServoMessage", type, INTERFACE_MESSAGE_TYPE_SIZE_ - 1) == 0 ) {
1128 return new MoveServoMessage();
1129 }
else if ( strncmp(
"MoveServosMessage", type, INTERFACE_MESSAGE_TYPE_SIZE_ - 1) == 0 ) {
1130 return new MoveServosMessage();
1132 throw UnknownTypeException(
"The given type '%s' does not match any known "
1133 "message type for this interface type.", type);
1142 NaoJointPositionInterface::copy_values(
const Interface *other)
1144 const NaoJointPositionInterface *oi = dynamic_cast<const NaoJointPositionInterface *>(other);
1147 type(), other->type());
1149 memcpy(data, oi->data,
sizeof(NaoJointPositionInterface_data_t));
1153 NaoJointPositionInterface::enum_tostring(
const char *enumtype,
int val)
const
1155 if (strcmp(enumtype,
"RobotType") == 0) {
1156 return tostring_RobotType((RobotType)val);
1174 NaoJointPositionInterface::SetServoMessage::SetServoMessage(
const uint32_t ini_servo,
const float ini_value,
const int32_t ini_time) : Message(
"SetServoMessage")
1176 data_size =
sizeof(SetServoMessage_data_t);
1179 data = (SetServoMessage_data_t *)
data_ptr;
1181 data->servo = ini_servo;
1182 data->value = ini_value;
1183 data->time = ini_time;
1193 data_size =
sizeof(SetServoMessage_data_t);
1196 data = (SetServoMessage_data_t *)
data_ptr;
1219 data = (SetServoMessage_data_t *)
data_ptr;
1255 data->servo = new_servo;
1285 data->value = new_value;
1323 data->time = new_time;
1372 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")
1374 data_size =
sizeof(SetServosMessage_data_t);
1377 data = (SetServosMessage_data_t *)
data_ptr;
1379 data->head_yaw = ini_head_yaw;
1380 data->head_pitch = ini_head_pitch;
1381 data->l_shoulder_pitch = ini_l_shoulder_pitch;
1382 data->l_shoulder_roll = ini_l_shoulder_roll;
1383 data->l_elbow_yaw = ini_l_elbow_yaw;
1384 data->l_elbow_roll = ini_l_elbow_roll;
1385 data->l_hip_yaw_pitch = ini_l_hip_yaw_pitch;
1386 data->l_hip_roll = ini_l_hip_roll;
1387 data->l_hip_pitch = ini_l_hip_pitch;
1388 data->l_knee_pitch = ini_l_knee_pitch;
1389 data->l_ankle_pitch = ini_l_ankle_pitch;
1390 data->l_ankle_roll = ini_l_ankle_roll;
1391 data->l_wrist_yaw = ini_l_wrist_yaw;
1392 data->l_hand = ini_l_hand;
1393 data->r_shoulder_pitch = ini_r_shoulder_pitch;
1394 data->r_shoulder_roll = ini_r_shoulder_roll;
1395 data->r_elbow_yaw = ini_r_elbow_yaw;
1396 data->r_elbow_roll = ini_r_elbow_roll;
1397 data->r_wrist_yaw = ini_r_wrist_yaw;
1398 data->r_hand = ini_r_hand;
1399 data->r_hip_yaw_pitch = ini_r_hip_yaw_pitch;
1400 data->r_hip_roll = ini_r_hip_roll;
1401 data->r_hip_pitch = ini_r_hip_pitch;
1402 data->r_knee_pitch = ini_r_knee_pitch;
1403 data->r_ankle_pitch = ini_r_ankle_pitch;
1404 data->r_ankle_roll = ini_r_ankle_roll;
1405 data->time = ini_time;
1439 data_size =
sizeof(SetServosMessage_data_t);
1442 data = (SetServosMessage_data_t *)
data_ptr;
1489 data = (SetServosMessage_data_t *)
data_ptr;
1501 return data->head_yaw;
1521 data->head_yaw = new_head_yaw;
1531 return data->head_pitch;
1551 data->head_pitch = new_head_pitch;
1561 return data->l_shoulder_pitch;
1581 data->l_shoulder_pitch = new_l_shoulder_pitch;
1591 return data->l_shoulder_roll;
1611 data->l_shoulder_roll = new_l_shoulder_roll;
1621 return data->l_elbow_yaw;
1641 data->l_elbow_yaw = new_l_elbow_yaw;
1651 return data->l_elbow_roll;
1671 data->l_elbow_roll = new_l_elbow_roll;
1681 return data->l_hip_yaw_pitch;
1701 data->l_hip_yaw_pitch = new_l_hip_yaw_pitch;
1711 return data->l_hip_roll;
1731 data->l_hip_roll = new_l_hip_roll;
1741 return data->l_hip_pitch;
1761 data->l_hip_pitch = new_l_hip_pitch;
1771 return data->l_knee_pitch;
1791 data->l_knee_pitch = new_l_knee_pitch;
1801 return data->l_ankle_pitch;
1821 data->l_ankle_pitch = new_l_ankle_pitch;
1831 return data->l_ankle_roll;
1851 data->l_ankle_roll = new_l_ankle_roll;
1861 return data->l_wrist_yaw;
1881 data->l_wrist_yaw = new_l_wrist_yaw;
1891 return data->l_hand;
1911 data->l_hand = new_l_hand;
1921 return data->r_shoulder_pitch;
1941 data->r_shoulder_pitch = new_r_shoulder_pitch;
1951 return data->r_shoulder_roll;
1971 data->r_shoulder_roll = new_r_shoulder_roll;
1981 return data->r_elbow_yaw;
2001 data->r_elbow_yaw = new_r_elbow_yaw;
2011 return data->r_elbow_roll;
2031 data->r_elbow_roll = new_r_elbow_roll;
2041 return data->r_wrist_yaw;
2061 data->r_wrist_yaw = new_r_wrist_yaw;
2071 return data->r_hand;
2091 data->r_hand = new_r_hand;
2101 return data->r_hip_yaw_pitch;
2121 data->r_hip_yaw_pitch = new_r_hip_yaw_pitch;
2131 return data->r_hip_roll;
2151 data->r_hip_roll = new_r_hip_roll;
2161 return data->r_hip_pitch;
2181 data->r_hip_pitch = new_r_hip_pitch;
2191 return data->r_knee_pitch;
2211 data->r_knee_pitch = new_r_knee_pitch;
2221 return data->r_ankle_pitch;
2241 data->r_ankle_pitch = new_r_ankle_pitch;
2251 return data->r_ankle_roll;
2271 data->r_ankle_roll = new_r_ankle_roll;
2309 data->time = new_time;
2336 data_size =
sizeof(MoveServoMessage_data_t);
2339 data = (MoveServoMessage_data_t *)
data_ptr;
2341 data->servo = ini_servo;
2342 data->value = ini_value;
2343 data->speed = ini_speed;
2353 data_size =
sizeof(MoveServoMessage_data_t);
2356 data = (MoveServoMessage_data_t *)
data_ptr;
2379 data = (MoveServoMessage_data_t *)
data_ptr;
2419 data->servo = new_servo;
2449 data->value = new_value;
2483 data->speed = new_speed;
2532 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")
2534 data_size =
sizeof(MoveServosMessage_data_t);
2537 data = (MoveServosMessage_data_t *)
data_ptr;
2539 data->speed = ini_speed;
2540 data->head_yaw = ini_head_yaw;
2541 data->head_pitch = ini_head_pitch;
2542 data->l_shoulder_pitch = ini_l_shoulder_pitch;
2543 data->l_shoulder_roll = ini_l_shoulder_roll;
2544 data->l_elbow_yaw = ini_l_elbow_yaw;
2545 data->l_elbow_roll = ini_l_elbow_roll;
2546 data->l_wrist_yaw = ini_l_wrist_yaw;
2547 data->l_hand = ini_l_hand;
2548 data->l_hip_yaw_pitch = ini_l_hip_yaw_pitch;
2549 data->l_hip_roll = ini_l_hip_roll;
2550 data->l_hip_pitch = ini_l_hip_pitch;
2551 data->l_knee_pitch = ini_l_knee_pitch;
2552 data->l_ankle_pitch = ini_l_ankle_pitch;
2553 data->l_ankle_roll = ini_l_ankle_roll;
2554 data->r_shoulder_pitch = ini_r_shoulder_pitch;
2555 data->r_shoulder_roll = ini_r_shoulder_roll;
2556 data->r_elbow_yaw = ini_r_elbow_yaw;
2557 data->r_elbow_roll = ini_r_elbow_roll;
2558 data->r_wrist_yaw = ini_r_wrist_yaw;
2559 data->r_hand = ini_r_hand;
2560 data->r_hip_yaw_pitch = ini_r_hip_yaw_pitch;
2561 data->r_hip_roll = ini_r_hip_roll;
2562 data->r_hip_pitch = ini_r_hip_pitch;
2563 data->r_knee_pitch = ini_r_knee_pitch;
2564 data->r_ankle_pitch = ini_r_ankle_pitch;
2565 data->r_ankle_roll = ini_r_ankle_roll;
2599 data_size =
sizeof(MoveServosMessage_data_t);
2602 data = (MoveServosMessage_data_t *)
data_ptr;
2649 data = (MoveServosMessage_data_t *)
data_ptr;
2685 data->speed = new_speed;
2695 return data->head_yaw;
2715 data->head_yaw = new_head_yaw;
2725 return data->head_pitch;
2745 data->head_pitch = new_head_pitch;
2755 return data->l_shoulder_pitch;
2775 data->l_shoulder_pitch = new_l_shoulder_pitch;
2785 return data->l_shoulder_roll;
2805 data->l_shoulder_roll = new_l_shoulder_roll;
2815 return data->l_elbow_yaw;
2835 data->l_elbow_yaw = new_l_elbow_yaw;
2845 return data->l_elbow_roll;
2865 data->l_elbow_roll = new_l_elbow_roll;
2875 return data->l_wrist_yaw;
2895 data->l_wrist_yaw = new_l_wrist_yaw;
2905 return data->l_hand;
2925 data->l_hand = new_l_hand;
2935 return data->l_hip_yaw_pitch;
2955 data->l_hip_yaw_pitch = new_l_hip_yaw_pitch;
2965 return data->l_hip_roll;
2985 data->l_hip_roll = new_l_hip_roll;
2995 return data->l_hip_pitch;
3015 data->l_hip_pitch = new_l_hip_pitch;
3025 return data->l_knee_pitch;
3045 data->l_knee_pitch = new_l_knee_pitch;
3055 return data->l_ankle_pitch;
3075 data->l_ankle_pitch = new_l_ankle_pitch;
3085 return data->l_ankle_roll;
3105 data->l_ankle_roll = new_l_ankle_roll;
3115 return data->r_shoulder_pitch;
3135 data->r_shoulder_pitch = new_r_shoulder_pitch;
3145 return data->r_shoulder_roll;
3165 data->r_shoulder_roll = new_r_shoulder_roll;
3175 return data->r_elbow_yaw;
3195 data->r_elbow_yaw = new_r_elbow_yaw;
3205 return data->r_elbow_roll;
3225 data->r_elbow_roll = new_r_elbow_roll;
3235 return data->r_wrist_yaw;
3255 data->r_wrist_yaw = new_r_wrist_yaw;
3265 return data->r_hand;
3285 data->r_hand = new_r_hand;
3295 return data->r_hip_yaw_pitch;
3315 data->r_hip_yaw_pitch = new_r_hip_yaw_pitch;
3325 return data->r_hip_roll;
3345 data->r_hip_roll = new_r_hip_roll;
3355 return data->r_hip_pitch;
3375 data->r_hip_pitch = new_r_hip_pitch;
3385 return data->r_knee_pitch;
3405 data->r_knee_pitch = new_r_knee_pitch;
3415 return data->r_ankle_pitch;
3435 data->r_ankle_pitch = new_r_ankle_pitch;
3445 return data->r_ankle_roll;
3465 data->r_ankle_roll = new_r_ankle_roll;
3485 const SetServoMessage *m0 = dynamic_cast<const SetServoMessage *>(message);
3489 const SetServosMessage *m1 = dynamic_cast<const SetServosMessage *>(message);
3493 const MoveServoMessage *m2 = dynamic_cast<const MoveServoMessage *>(message);
3497 const MoveServosMessage *m3 = dynamic_cast<const MoveServosMessage *>(message);
3505 EXPORT_INTERFACE(NaoJointPositionInterface)