wb_hal_arm_target.h

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/*
 * file wb_hal_arm_target.h
 *
 * This file was generated by classgenerator from hal_arm_target.gen.
 * DO NOT CHANGE MANUALLY!
 *
 * Copyright © 2021 Dimitri Joukoff. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 *
 * 2. Redistributions in binary form must reproduce the above
 *    copyright notice, this list of conditions and the following
 *    disclaimer in the documentation and/or other materials
 *    provided with the distribution.
 *
 * 3. All advertising materials mentioning features or use of this
 *    software must display the following acknowledgement:
 *
 *        This product includes software developed by Dimitri Joukoff.
 *
 * 4. Neither the name of the author nor the names of contributors
 *    may be used to endorse or promote products derived from this
 *    software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
 * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER
 * OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
 * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
 * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
 * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
 * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
 * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 *
 * -----------------------------------------------------------------------
 * This program is free software; you can redistribute it and/or
 * modify it under the above terms or under the terms of the GNU
 * General Public License as published by the Free Software Foundation;
 * either version 2 of the License, or (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program; if not, see http://www.gnu.org/licenses/
 * or write to the Free Software Foundation, Inc., 51 Franklin Street,
 * Fifth Floor, Boston, MA  02110-1301, USA.
 *
 */
 
#ifndef wb_hal_arm_target_h
#define wb_hal_arm_target_h
 
#pragma clang diagnostic push
#pragma clang diagnostic ignored "-Wreserved-id-macro"
 
#ifdef __linux
# ifndef _POSIX_SOURCE
#  define _POSIX_SOURCE 200112L
# endif
#endif
#ifndef _XOPEN_SOURCE
# define _XOPEN_SOURCE 700
#endif
#ifdef __APPLE__
# ifndef _DARWIN_C_SOURCE
#  define _DARWIN_C_SOURCE 200112L
# endif
# ifndef __DARWIN_C_LEVEL
#  define __DARWIN_C_LEVEL 200112L
# endif
#endif
 
#pragma clang diagnostic pop
 
#include <gu_util.h>
#include <stdint.h>
 
#ifdef __cplusplus
#define LEFT_ARM (static_cast<uint8_t>(0))
#define RIGHT_ARM (static_cast<uint8_t>(1))
#else
#define LEFT_ARM ((uint8_t)0)
#define RIGHT_ARM ((uint8_t)1)
#endif
 
#define SHOULDER_PITCH_LIMIT_DOWN_DEG 119.5f
#define SHOULDER_PITCH_LIMIT_UP_DEG -SHOULDER_PITCH_LIMIT_DOWN_DEG
 
#define LEFT_SHOULDER_ROLL_OUT_DEG 76.0f
#define LEFT_SHOULDER_ROLL_IN_DEG -18.0f
#define RIGHT_SHOULDER_ROLL_OUT_DEG -LEFT_SHOULDER_ROLL_OUT_DEG
#define RIGHT_SHOULDER_ROLL_IN_DEG -LEFT_SHOULDER_ROLL_IN_DEG
 
#define LEFT_ELBOW_ROLL_STRAIGHT_DEG -2.0f
#define LEFT_ELBOW_ROLL_BENT_DEG -88.5f
#define RIGHT_ELBOW_ROLL_STRAIGHT_DEG -LEFT_ELBOW_ROLL_STRAIGHT_DEG
#define RIGHT_ELBOW_ROLL_BENT_DEG -LEFT_ELBOW_ROLL_BENT_DEG
 
#define LEFT_ELBOW_YAW_RIGHT_DEG 119.5f
#define LEFT_ELBOW_YAW_LEFT_DEG -LEFT_ELBOW_YAW_RIGHT_DEG
#define RIGHT_ELBOW_YAW_RIGHT_DEG LEFT_ELBOW_YAW_RIGHT_DEG
#define RIGHT_ELBOW_YAW_LEFT_DEG -LEFT_ELBOW_YAW_RIGHT_DEG
 
#define LEFT_WRIST_YAW_RIGHT_DEG 104.5f
#define LEFT_WRIST_YAW_LEFT_DEG -LEFT_WRIST_YAW_RIGHT_DEG
#define RIGHT_WRIST_YAW_RIGHT_DEG LEFT_WRIST_YAW_RIGHT_DEG
#define RIGHT_WRIST_YAW_LEFT_DEG -LEFT_WRIST_YAW_RIGHT_DEG
 
#define SHOULDER_PITCH_LIMIT_DOWN_RAD 2.0857f
#define SHOULDER_PITCH_LIMIT_UP_RAD -SHOULDER_PITCH_LIMIT_DOWN_RAD
 
#define LEFT_SHOULDER_ROLL_OUT_RAD 1.3265f
#define LEFT_SHOULDER_ROLL_IN_RAD -0.3142f
#define RIGHT_SHOULDER_ROLL_OUT_RAD -LEFT_SHOULDER_ROLL_OUT_RAD
#define RIGHT_SHOULDER_ROLL_IN_RAD -LEFT_SHOULDER_ROLL_IN_RAD
 
#define LEFT_ELBOW_ROLL_STRAIGHT_RAD -0.0349f
#define LEFT_ELBOW_ROLL_BENT_RAD -1.5446f
#define RIGHT_ELBOW_ROLL_STRAIGHT_RAD -LEFT_ELBOW_ROLL_STRAIGHT_RAD
#define RIGHT_ELBOW_ROLL_BENT_RAD -LEFT_ELBOW_ROLL_BENT_RAD
 
#define LEFT_ELBOW_YAW_RIGHT_RAD 2.0857f
#define LEFT_ELBOW_YAW_LEFT_RAD -LEFT_ELBOW_YAW_RIGHT_RAD
#define RIGHT_ELBOW_YAW_RIGHT_RAD LEFT_ELBOW_YAW_RIGHT_RAD
#define RIGHT_ELBOW_YAW_LEFT_RAD -LEFT_ELBOW_YAW_RIGHT_RAD
 
#define LEFT_WRIST_YAW_RIGHT_RAD 1.8238f
#define LEFT_WRIST_YAW_LEFT_RAD -LEFT_WRIST_YAW_RIGHT_RAD
#define RIGHT_WRIST_YAW_RIGHT_RAD LEFT_WRIST_YAW_RIGHT_RAD
#define RIGHT_WRIST_YAW_LEFT_RAD -LEFT_WRIST_YAW_RIGHT_RAD
 
#define HAL_ARM_TARGET_GENERATED 
#define HAL_ARM_TARGET_C_STRUCT wb_hal_arm_target 
#define HAL_ARM_TARGET_NUMBER_OF_VARIABLES 23
 
#ifdef WHITEBOARD_POSTER_STRING_CONVERSION
#define HAL_ARM_TARGET_DESC_BUFFER_SIZE 685
#define HAL_ARM_TARGET_TO_STRING_BUFFER_SIZE 201
#endif 
 
#ifdef __cplusplus
extern "C" {
#endif
 
struct wb_hal_arm_target
{
 
    int32_t target_movement_time;
 
    int16_t target_shoulderpitch;
 
    int16_t target_shoulderroll;
 
    int16_t target_elbowroll;
 
    int16_t target_elbowyaw;
 
    int16_t target_wristyaw;
 
    uint8_t target_arm;
 
    uint8_t target_hand;
 
    uint8_t target_shoulderpitchstiffness;
 
    uint8_t target_shoulderrollstiffness;
 
    uint8_t target_elbowrollstiffness;
 
    uint8_t target_elbowyawstiffness;
 
    uint8_t target_wristyawstiffness;
 
    uint8_t target_handstiffness;
 
    uint8_t target_pliability;
 
    unsigned int target_shoulderpitch_active : 1;
 
    unsigned int target_shoulderroll_active : 1;
 
    unsigned int target_elbowroll_active : 1;
 
    unsigned int target_elbowyaw_active : 1;
 
    unsigned int target_wrist_active : 1;
 
    unsigned int target_hand_active : 1;
 
    unsigned int target_arm_at_goal : 1;
 
    unsigned int target_arm_stop : 1;
 
};
 
#ifdef WHITEBOARD_POSTER_STRING_CONVERSION
 
const char* wb_hal_arm_target_description(const struct wb_hal_arm_target* self, char* descString, size_t bufferSize);
 
const char* wb_hal_arm_target_to_string(const struct wb_hal_arm_target* self, char* toString, size_t bufferSize);
 
struct wb_hal_arm_target* wb_hal_arm_target_from_string(struct wb_hal_arm_target* self, const char* str);
 
#endif 
 
#ifdef WHITEBOARD_POSTER_STRING_CONVERSION
const char* wb_hal_arm_target_value_description(const struct wb_hal_arm_target* self, char* toString, size_t bufferSize);
#endif
 
/*#ifdef WHITEBOARD_SERIALISATION*/
 
size_t wb_hal_arm_target_to_network_serialised(const struct wb_hal_arm_target *self, char *dst);
 
size_t wb_hal_arm_target_from_network_serialised(const char *src, struct wb_hal_arm_target *dst);
 
/*#endif /// WHITEBOARD_SERIALISATION*/
 
#ifdef __cplusplus
}
#endif
 
#endif