ROSLANData.h
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00001 #ifndef ROSLANDATA_H
00002 #define ROSLANDATA_H
00003 
00004 #include "JointInformation.h"
00005 
00006 #ifndef __LAN_STRUCT_GENERAL_COMMAND_DEF__
00007 #define __LAN_STRUCT_GENERAL_COMMAND_DEF__
00008 
00009 typedef struct __LAN_STRUCT_GENERAL_COMMAND_
00010 {
00011     char    param_c[10];
00012     int     param_i[10];
00013     float   param_f[10];
00014     int     cmd;
00015 } LAN_GENERAL_COMMAND, *pLAN_GENERAL_COMMAND;
00016 
00017 #endif
00018 
00019 typedef struct __LAN_STRUCT_ROS2PODO__
00020 {
00021     float   vx;
00022     float   vth;
00023 
00024     float   pos[3];
00025 } LAN_ROS2PODO, *pLAN_ROS2PODO;
00026 
00027 typedef struct __LAN_STRUCT_PODO2ROS__
00028 {
00029     float   JointReference[NO_OF_JOINTS];
00030     float   JointEncoder[NO_OF_JOINTS];
00031 
00032     float   odom_x;
00033     float   odom_y;
00034     float   odom_theta;
00035     float   vx;
00036     float   vy;
00037     float   vth;
00038 
00039     LAN_GENERAL_COMMAND cmd;
00040 } LAN_PODO2ROS, *pLAN_PODO2ROS;
00041 
00042 #endif // ROSLANDATA_H


drc_podo_connector
Author(s): JeongsooLim , SeungwooHong
autogenerated on Sat Jun 8 2019 20:42:30