Program Listing for File common_defines.hpp

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#ifndef UNITREE_DATA_HPP
#define UNITREE_DATA_HPP

typedef enum {
    MODE_IDDLE = 0,
    WALK_W_VEL = 2,
    WALK_W_POS = 3,
    STAND_DOWN = 5,
    STAND_UP = 6,
    DAMPING_MODE = 7,
} mode_enum;

typedef enum {
    GAITYPE_IDDLE = 0,
    TROT = 1,
    TROT_RUNNING = 2,
    CLIMB_STAIR = 3,
    TROT_OBSTACLE = 4,
} gaitype_enum;

typedef enum {
    LOW_SPEED = 0,
    MEDIUM_SPEED = 1,
    HIGH_SPEED = 2,
} speed_level_enum;

typedef enum {
    READY,
    MOVING,
    IDDLE,
    BATTERY_LOW,
    ERROR,
} robot_status_e;

typedef struct {
    float x;
    float y;
    float z;
} position_t;

typedef struct {
    float x;
    float y;
    float z;
    float w;
} quarternion_t;

typedef struct {
    position_t position;
    quarternion_t orientation;
} pose_t;

typedef struct {
    float x;
    float y;
    float yaw;
} velocity_t;

typedef struct {
    pose_t pose;
    velocity_t velocity;
} odom_t;

typedef struct {
    float left;
    float front;
    float right;
} sensor_ranges_t;

#endif  // !#ifndef UNITREE_DATA_HPP