00001 /****************************************************************************** 00002 Copyright (c) 2017, Alexander W. Winkler. All rights reserved. 00003 00004 Redistribution and use in source and binary forms, with or without 00005 modification, are permitted provided that the following conditions are met: 00006 00007 * Redistributions of source code must retain the above copyright notice, this 00008 list of conditions and the following disclaimer. 00009 00010 * Redistributions in binary form must reproduce the above copyright notice, 00011 this list of conditions and the following disclaimer in the documentation 00012 and/or other materials provided with the distribution. 00013 00014 * Neither the name of the copyright holder nor the names of its 00015 contributors may be used to endorse or promote products derived from 00016 this software without specific prior written permission. 00017 00018 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00019 AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00020 IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 00021 DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE 00022 FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL 00023 DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR 00024 SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00025 CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, 00026 OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 00027 OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 00028 ******************************************************************************/ 00029 00037 #ifndef XPP_MSGS_TOPIC_NAMES_H_ 00038 #define XPP_MSGS_TOPIC_NAMES_H_ 00039 00040 #include <string> 00041 00042 namespace xpp_msgs { 00043 00044 // the current robot cartesian state including base, feet, time, ... 00045 static const std::string robot_state_current("/xpp/state_curr"); 00046 00047 // the desired state that comes from the optimizer 00048 static const std::string robot_state_desired("/xpp/state_des"); 00049 00050 // desired joint state (equivalent to desired cartesian state 00051 static const std::string joint_desired("/xpp/joint_des"); 00052 00053 // sequence of desired states coming from the optimizer 00054 static const std::string robot_trajectory_desired("/xpp/trajectory_des"); 00055 00056 // parameters describing the robot kinematics 00057 static const std::string robot_parameters("/xpp/params"); 00058 00059 // information about terrain normals and friction coefficients 00060 static const std::string terrain_info("/xpp/terrain_info"); 00061 } 00062 00063 #endif /* XPP_MSGS_TOPIC_NAMES_H_ */