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131 | /**
* @file ArmMotionRequest.h
*
* @author <a href="mailto:guido.schillaci@informatik.hu-berlin.de">Guido Schillaci</a>
* @author <a href="mailto:scheunem@informatik.hu-berlin.de">Marcus Scheunemann</a>
* Declaration of class ArmMotionRequest
*/
#ifndef _ArmMotionRequest_h_
#define _ArmMotionRequest_h_
#include "Tools/DataStructures/Printable.h"
#include "Tools/DataStructures/Serializer.h"
//#include "Tools/DataStructures/Streamable.h"
//#include "PlatformInterface/PlatformInterchangeable.h"
#include "Tools/Math/Vector2.h"
#include "Tools/Math/Vector3.h"
#include "Representations/Infrastructure/CameraInfo.h"
#include "Messages/Representations.pb.h"
/**
* @class ArmMotionRequest
* This describes the ArmMotionRequest
*/
class ArmMotionRequest : public naoth::Printable
{
public:
// enum Coordinate
// {
// Hip,
// LFoot,
// RFoot,
// numOfCoordinate
// };
/** ids for all motion types */
enum ArmMotionID
{
hold,
set_left_shoulder_position,
set_left_shoulder_stiffness,
set_left_elbow_position,
set_left_elbow_stiffness,
set_right_shoulder_position,
set_right_shoulder_stiffness,
set_right_elbow_position,
set_right_elbow_stiffness,
set_left_arm_joint_position,
set_left_arm_joint_stiffness,
set_right_arm_joint_position,
set_right_arm_joint_stiffness,
set_both_arms_joint_position,
set_both_arms_joint_stiffness,
arms_none,
arms_back,
arms_down,
arms_synchronised_with_walk,
numOfArmMotion
};
/** constructor */
ArmMotionRequest() <--- Member variable 'ArmMotionRequest::stiffness' is not initialized in the constructor.<--- Member variable 'ArmMotionRequest::max_velocity_deg_in_sec' is not initialized in the constructor.
:
id(arms_none)
{ }
virtual ~ArmMotionRequest() { }
void reset() { }
/** id of the motion to be executed */
ArmMotionID id;
// // id of the camera to use
// naoth::CameraInfo::CameraID cameraID;
// LEFT ARM
// describes the target angle-position: x=Pitch, y=roll
Vector2<double> lShoulderPosition;
// describes the target stiffness: x=Pitch, y=roll
Vector2<double> lShoulderStiffness;
// describes the target angle-position: x=yaw, y=roll
Vector2<double> lElbowPosition;
// describes the target stiffness: x=yaw, y=roll
Vector2<double> lElbowStiffness;
// RIGHT ARM
// describes the target angle-position: x=Pitch, y=roll
Vector2<double> rShoulderPosition;
// describes the target stiffness: x=Pitch, y=roll
Vector2<double> rShoulderStiffness;
// describes the target angle-position: x=yaw, y=roll
Vector2<double> rElbowPosition;
// describes the target stiffness: x=yaw, y=roll
Vector2<double> rElbowStiffness;
double stiffness;
double max_velocity_deg_in_sec;
/** return the name of the motion id */
static std::string getName(ArmMotionID id);
/** return the head motion id reprented by the name */
static ArmMotionID getId(const std::string& name);
virtual void print(std::ostream& stream) const;
};
namespace naoth
{
template<>
class Serializer<ArmMotionRequest>
{
public:
static void serialize(const ArmMotionRequest& representation, std::ostream& stream);
static void serialize(const ArmMotionRequest& representation, naothmessages::ArmMotionRequest* msg);
static void deserialize(std::istream& stream, ArmMotionRequest& representation);
static void deserialize(const naothmessages::ArmMotionRequest* msg, ArmMotionRequest& representation);
};
}
#endif // _ArmMotionRequest_h_
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