00001 00002 #ifndef GAZEBO_LAN_DATA_H 00003 #define GAZEBO_LAN_DATA_H 00004 00005 #include "JointInformation.h" 00006 00007 00008 enum GAZEBO_LAN_DATA_TYPE{ 00009 GAZEBO_TYPE_NO = 0, 00010 GAZEBO_TYPE_JOINT, 00011 GAZEBO_TYPE_GAINOVERRIDE, 00012 GAZEBO_TYPE_HOME 00013 }; 00014 00015 typedef struct _DRC_GAZEBO_GO_CMD_ 00016 { 00017 int joint; 00018 int gain; 00019 int timeMs; 00020 }DRC_GAZEBO_GO_CMD; 00021 00022 typedef struct _DRC_GAZEBO_JOINT_REF_ 00023 { 00024 float JointReference[NO_OF_JOINTS]; 00025 }DRC_GAZEBO_JOINT; 00026 00027 00028 typedef struct _DRC_GAZEBO_TIME_ 00029 { 00030 int sec; 00031 int nsec; 00032 }DRC_GAZEBO_TIME; 00033 00034 typedef struct _DRC_GAZEBO_FT_ 00035 { 00036 float force[3]; // fx, fy, fz 00037 float torque[3]; // mx, my, mz 00038 }DRC_GAZEBO_FT; 00039 00040 typedef struct _DRC_GAZEBO_SENSOR_DATA_ 00041 { 00042 DRC_GAZEBO_TIME Sim_Time; 00043 DRC_GAZEBO_TIME ROS_Time; 00044 DRC_GAZEBO_FT FTSensor[4]; // RAFT, LAFT, RWFT, LWFT 00045 float IMUSensor[9]; // roll, pitch, yaw, rvel, pvel, yvel, accx, accy, accz 00046 float JointCurrentPosition[NO_OF_JOINTS]; 00047 }DRC_GAZEBO_SENSOR; 00048 00049 00050 #endif // GAZEBO_LAN_DATA_H