GazeboLANData.h
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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


drc_plugin
Author(s): JeongsooLim , SeungwooHong
autogenerated on Sat Jul 22 2017 02:25:33