topic_names.h

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#ifndef XPP_MSGS_TOPIC_NAMES_H_
#define XPP_MSGS_TOPIC_NAMES_H_
 
#include <string>
 
namespace xpp_msgs {
 
// the current robot cartesian state including base, feet, time, ...
static const std::string robot_state_current("/xpp/state_curr");
 
// the desired state that comes from the optimizer
static const std::string robot_state_desired("/xpp/state_des");
 
// desired joint state (equivalent to desired cartesian state
static const std::string joint_desired("/xpp/joint_des");
 
// sequence of desired states coming from the optimizer
static const std::string robot_trajectory_desired("/xpp/trajectory_des");
 
// parameters describing the robot kinematics
static const std::string robot_parameters("/xpp/params");
 
// information about terrain normals and friction coefficients
static const std::string terrain_info("/xpp/terrain_info");
}
 
#endif /* XPP_MSGS_TOPIC_NAMES_H_ */