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