gusimplewhiteboard
wb_hal_headtarget.h
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1
9#ifndef wb_hal_headtarget_h
10#define wb_hal_headtarget_h
11
12#include <gu_util.h>
13
14#define YAW_LIMIT_POS 90
15#define YAW_LIMIT_NEG -YAW_LIMIT_POS
16#define PITCH_LIMIT_POS 28
17#define PITCH_LIMIT_NEG -20
18
22struct wb_hal_headtarget
23{
24
26 PROPERTY(float, target_pitchAngle)
27
28
29 PROPERTY(float, target_yawAngle)
30
31
32
33 PROPERTY(int, target_movement_time)
34
35
36 BIT_PROPERTY(head_stopped)
37
38
39
40 BIT_PROPERTY(head_cmd_mask)
41
42
43 unsigned pad: 30;
44
45#ifdef __cplusplus
53 wb_hal_headtarget(float target_pitchAngle = 0, float target_yawAngle = 0, int target_movement_time = 1000000, bool head_stopped = true)
54 {
55 set_target_pitchAngle(target_pitchAngle);
56 set_target_yawAngle(target_yawAngle);
57 set_target_movement_time(target_movement_time);
58 set_head_stopped(head_stopped);
59 set_head_cmd_mask(false);
60}
61#endif
62};
63
64#endif //wb_hal_headtarget_h
wb_hal_headtarget
HAL_HeadTarget c struct.
Definition: wb_hal_headtarget.h:23
wb_hal_headtarget::wb_hal_headtarget
target_yawAngle PROPERTY(int, target_movement_time) BIT_PROPERTY(head_stopped) BIT_PROPERTY(head_cmd_mask) unsigned pad wb_hal_headtarget(float target_pitchAngle=0, float target_yawAngle=0, int target_movement_time=1000000, bool head_stopped=true)
How long until the head should be at the target angles, stored in micro seconds.
Definition: wb_hal_headtarget.h:53
wb_hal_headtarget::PROPERTY
PROPERTY(float, target_pitchAngle) PROPERTY(float
target pitch angle in radians