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wb_hal_leg_target.h File Reference
#include <gu_util.h>
#include <stdint.h>
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Classes

struct  wb_hal_leg_target
 WHITEBOARD_POSTER_STRING_CONVERSION. More...
 

Macros

#define _XOPEN_SOURCE   700
 
#define LEFT_LEG   (static_cast<uint8_t>(0))
 
#define RIGHT_LEG   (static_cast<uint8_t>(1))
 
#define HIP_YAWPITCH_LIMIT_BACK_DEG   -65.62f
 Issued Commands that exceed the movement limits given below are treated as NO-OP. More...
 
#define HIP_YAWPITCH_LIMIT_FRONT_DEG   42.44f
 
#define LEFT_HIP_ROLL_OUT_DEG   45.29f
 
#define LEFT_HIP_ROLL_IN_DEG   -21.74f
 
#define LEFT_HIP_PITCH_FRONT_DEG   -88.00f
 
#define LEFT_HIP_PITCH_BACK_DEG   27.73f
 
#define LEFT_KNEE_PITCH_FRONT_DEG   -5.29f
 
#define LEFT_KNEE_PITCH_BACK_DEG   121.04f
 
#define LEFT_ANKLE_PITCH_FRONT_DEG   -68.15f
 
#define LEFT_ANKLE_PITCH_BACK_DEG   52.86f
 
#define LEFT_ANKLE_ROLL_OUT_DEG   44.06f
 
#define LEFT_ANKLE_ROLL_IN_DEG   -22.79f
 
#define RIGHT_HIP_ROLL_OUT_DEG   -45.29f
 
#define RIGHT_HIP_ROLL_IN_DEG   21.74f
 
#define RIGHT_HIP_PITCH_FRONT_DEG   -88.00f
 
#define RIGHT_HIP_PITCH_BACK_DEG   27.73f
 
#define RIGHT_KNEE_PITCH_FRONT_DEG   -5.90f
 
#define RIGHT_KNEE_PITCH_BACK_DEG   121.47f
 
#define RIGHT_ANKLE_PITCH_FRONT_DEG   -67.97f
 
#define RIGHT_ANKLE_PITCH_BACK_DEG   53.40f
 
#define RIGHT_ANKLE_ROLL_OUT_DEG   -44.06f
 
#define RIGHT_ANKLE_ROLL_IN_DEG   22.80f
 
#define HIP_YAWPITCH_LIMIT_BACK_RAD   -1.145303f
 Limits expressed in radians. More...
 
#define HIP_YAWPITCH_LIMIT_FRONT_RAD   0.740810f
 
#define LEFT_HIP_ROLL_OUT_RAD   0.790477f
 
#define LEFT_HIP_ROLL_IN_RAD   -0.379472f
 
#define LEFT_HIP_PITCH_FRONT_RAD   -1.535889f
 
#define LEFT_HIP_PITCH_BACK_RAD   0.484090f
 
#define LEFT_KNEE_PITCH_FRONT_RAD   -0.092346f
 
#define LEFT_KNEE_PITCH_BACK_RAD   2.112528f
 
#define LEFT_ANKLE_PITCH_FRONT_RAD   -1.189516f
 
#define LEFT_ANKLE_PITCH_BACK_RAD   0.922747f
 
#define LEFT_ANKLE_ROLL_OUT_RAD   0.769001f
 
#define LEFT_ANKLE_ROLL_IN_RAD   -0.397880f
 
#define RIGHT_HIP_ROLL_OUT_RAD   -0.790477f
 
#define RIGHT_HIP_ROLL_IN_RAD   0.379472f
 
#define RIGHT_HIP_PITCH_FRONT_RAD   -1.535889f
 
#define RIGHT_HIP_PITCH_BACK_RAD   0.484090f
 
#define RIGHT_KNEE_PITCH_FRONT_RAD   -0.103083f
 
#define RIGHT_KNEE_PITCH_BACK_RAD   2.120198f
 
#define RIGHT_ANKLE_PITCH_FRONT_RAD   -1.186448f
 
#define RIGHT_ANKLE_PITCH_BACK_RAD   0.932056f
 
#define RIGHT_ANKLE_ROLL_OUT_RAD   -0.768992f
 
#define RIGHT_ANKLE_ROLL_IN_RAD   0.397935f
 
#define HAL_LEG_TARGET_GENERATED
 
#define HAL_LEG_TARGET_C_STRUCT   wb_hal_leg_target
 
#define HAL_LEG_TARGET_NUMBER_OF_VARIABLES   23
 
#define HAL_LEG_TARGET_DESC_BUFFER_SIZE   691
 
#define HAL_LEG_TARGET_TO_STRING_BUFFER_SIZE   204
 

Functions

const char * wb_hal_leg_target_description (const struct wb_hal_leg_target *self, char *descString, size_t bufferSize)
 Convert to a description string. More...
 
const char * wb_hal_leg_target_to_string (const struct wb_hal_leg_target *self, char *toString, size_t bufferSize)
 Convert to a string. More...
 
struct wb_hal_leg_target * wb_hal_leg_target_from_string (struct wb_hal_leg_target *self, const char *str)
 Convert from a string. More...
 
const char * wb_hal_leg_target_value_description (const struct wb_hal_leg_target *self, char *toString, size_t bufferSize)
 WHITEBOARD_POSTER_STRING_CONVERSION. More...
 
size_t wb_hal_leg_target_to_network_serialised (const struct wb_hal_leg_target *self, char *dst)
 Network stream serialisation. More...
 
size_t wb_hal_leg_target_from_network_serialised (const char *src, struct wb_hal_leg_target *dst)
 Network stream deserialisation. More...
 

Macro Definition Documentation

◆ _XOPEN_SOURCE

#define _XOPEN_SOURCE   700

Definition at line 72 of file wb_hal_leg_target.h.

◆ HAL_LEG_TARGET_C_STRUCT

#define HAL_LEG_TARGET_C_STRUCT   wb_hal_leg_target

Definition at line 156 of file wb_hal_leg_target.h.

◆ HAL_LEG_TARGET_DESC_BUFFER_SIZE

#define HAL_LEG_TARGET_DESC_BUFFER_SIZE   691

Definition at line 160 of file wb_hal_leg_target.h.

◆ HAL_LEG_TARGET_GENERATED

#define HAL_LEG_TARGET_GENERATED

Definition at line 155 of file wb_hal_leg_target.h.

◆ HAL_LEG_TARGET_NUMBER_OF_VARIABLES

#define HAL_LEG_TARGET_NUMBER_OF_VARIABLES   23

Definition at line 157 of file wb_hal_leg_target.h.

◆ HAL_LEG_TARGET_TO_STRING_BUFFER_SIZE

#define HAL_LEG_TARGET_TO_STRING_BUFFER_SIZE   204

Definition at line 161 of file wb_hal_leg_target.h.

◆ HIP_YAWPITCH_LIMIT_BACK_DEG

#define HIP_YAWPITCH_LIMIT_BACK_DEG   -65.62f

Issued Commands that exceed the movement limits given below are treated as NO-OP.

I.e. the pose of the joint is not altered by the command. Limits expressed in degrees (from Aldebaran Docs ./family/nao_h25/joints_h25.html)

Definition at line 104 of file wb_hal_leg_target.h.

◆ HIP_YAWPITCH_LIMIT_BACK_RAD

#define HIP_YAWPITCH_LIMIT_BACK_RAD   -1.145303f

Limits expressed in radians.

Definition at line 130 of file wb_hal_leg_target.h.

◆ HIP_YAWPITCH_LIMIT_FRONT_DEG

#define HIP_YAWPITCH_LIMIT_FRONT_DEG   42.44f

Definition at line 105 of file wb_hal_leg_target.h.

◆ HIP_YAWPITCH_LIMIT_FRONT_RAD

#define HIP_YAWPITCH_LIMIT_FRONT_RAD   0.740810f

Definition at line 131 of file wb_hal_leg_target.h.

◆ LEFT_ANKLE_PITCH_BACK_DEG

#define LEFT_ANKLE_PITCH_BACK_DEG   52.86f

Definition at line 114 of file wb_hal_leg_target.h.

◆ LEFT_ANKLE_PITCH_BACK_RAD

#define LEFT_ANKLE_PITCH_BACK_RAD   0.922747f

Definition at line 140 of file wb_hal_leg_target.h.

◆ LEFT_ANKLE_PITCH_FRONT_DEG

#define LEFT_ANKLE_PITCH_FRONT_DEG   -68.15f

Definition at line 113 of file wb_hal_leg_target.h.

◆ LEFT_ANKLE_PITCH_FRONT_RAD

#define LEFT_ANKLE_PITCH_FRONT_RAD   -1.189516f

Definition at line 139 of file wb_hal_leg_target.h.

◆ LEFT_ANKLE_ROLL_IN_DEG

#define LEFT_ANKLE_ROLL_IN_DEG   -22.79f

Definition at line 116 of file wb_hal_leg_target.h.

◆ LEFT_ANKLE_ROLL_IN_RAD

#define LEFT_ANKLE_ROLL_IN_RAD   -0.397880f

Definition at line 142 of file wb_hal_leg_target.h.

◆ LEFT_ANKLE_ROLL_OUT_DEG

#define LEFT_ANKLE_ROLL_OUT_DEG   44.06f

Definition at line 115 of file wb_hal_leg_target.h.

◆ LEFT_ANKLE_ROLL_OUT_RAD

#define LEFT_ANKLE_ROLL_OUT_RAD   0.769001f

Definition at line 141 of file wb_hal_leg_target.h.

◆ LEFT_HIP_PITCH_BACK_DEG

#define LEFT_HIP_PITCH_BACK_DEG   27.73f

Definition at line 110 of file wb_hal_leg_target.h.

◆ LEFT_HIP_PITCH_BACK_RAD

#define LEFT_HIP_PITCH_BACK_RAD   0.484090f

Definition at line 136 of file wb_hal_leg_target.h.

◆ LEFT_HIP_PITCH_FRONT_DEG

#define LEFT_HIP_PITCH_FRONT_DEG   -88.00f

Definition at line 109 of file wb_hal_leg_target.h.

◆ LEFT_HIP_PITCH_FRONT_RAD

#define LEFT_HIP_PITCH_FRONT_RAD   -1.535889f

Definition at line 135 of file wb_hal_leg_target.h.

◆ LEFT_HIP_ROLL_IN_DEG

#define LEFT_HIP_ROLL_IN_DEG   -21.74f

Definition at line 108 of file wb_hal_leg_target.h.

◆ LEFT_HIP_ROLL_IN_RAD

#define LEFT_HIP_ROLL_IN_RAD   -0.379472f

Definition at line 134 of file wb_hal_leg_target.h.

◆ LEFT_HIP_ROLL_OUT_DEG

#define LEFT_HIP_ROLL_OUT_DEG   45.29f

Definition at line 107 of file wb_hal_leg_target.h.

◆ LEFT_HIP_ROLL_OUT_RAD

#define LEFT_HIP_ROLL_OUT_RAD   0.790477f

Definition at line 133 of file wb_hal_leg_target.h.

◆ LEFT_KNEE_PITCH_BACK_DEG

#define LEFT_KNEE_PITCH_BACK_DEG   121.04f

Definition at line 112 of file wb_hal_leg_target.h.

◆ LEFT_KNEE_PITCH_BACK_RAD

#define LEFT_KNEE_PITCH_BACK_RAD   2.112528f

Definition at line 138 of file wb_hal_leg_target.h.

◆ LEFT_KNEE_PITCH_FRONT_DEG

#define LEFT_KNEE_PITCH_FRONT_DEG   -5.29f

Definition at line 111 of file wb_hal_leg_target.h.

◆ LEFT_KNEE_PITCH_FRONT_RAD

#define LEFT_KNEE_PITCH_FRONT_RAD   -0.092346f

Definition at line 137 of file wb_hal_leg_target.h.

◆ LEFT_LEG

#define LEFT_LEG   (static_cast<uint8_t>(0))

Definition at line 91 of file wb_hal_leg_target.h.

◆ RIGHT_ANKLE_PITCH_BACK_DEG

#define RIGHT_ANKLE_PITCH_BACK_DEG   53.40f

Definition at line 125 of file wb_hal_leg_target.h.

◆ RIGHT_ANKLE_PITCH_BACK_RAD

#define RIGHT_ANKLE_PITCH_BACK_RAD   0.932056f

Definition at line 151 of file wb_hal_leg_target.h.

◆ RIGHT_ANKLE_PITCH_FRONT_DEG

#define RIGHT_ANKLE_PITCH_FRONT_DEG   -67.97f

Definition at line 124 of file wb_hal_leg_target.h.

◆ RIGHT_ANKLE_PITCH_FRONT_RAD

#define RIGHT_ANKLE_PITCH_FRONT_RAD   -1.186448f

Definition at line 150 of file wb_hal_leg_target.h.

◆ RIGHT_ANKLE_ROLL_IN_DEG

#define RIGHT_ANKLE_ROLL_IN_DEG   22.80f

Definition at line 127 of file wb_hal_leg_target.h.

◆ RIGHT_ANKLE_ROLL_IN_RAD

#define RIGHT_ANKLE_ROLL_IN_RAD   0.397935f

Definition at line 153 of file wb_hal_leg_target.h.

◆ RIGHT_ANKLE_ROLL_OUT_DEG

#define RIGHT_ANKLE_ROLL_OUT_DEG   -44.06f

Definition at line 126 of file wb_hal_leg_target.h.

◆ RIGHT_ANKLE_ROLL_OUT_RAD

#define RIGHT_ANKLE_ROLL_OUT_RAD   -0.768992f

Definition at line 152 of file wb_hal_leg_target.h.

◆ RIGHT_HIP_PITCH_BACK_DEG

#define RIGHT_HIP_PITCH_BACK_DEG   27.73f

Definition at line 121 of file wb_hal_leg_target.h.

◆ RIGHT_HIP_PITCH_BACK_RAD

#define RIGHT_HIP_PITCH_BACK_RAD   0.484090f

Definition at line 147 of file wb_hal_leg_target.h.

◆ RIGHT_HIP_PITCH_FRONT_DEG

#define RIGHT_HIP_PITCH_FRONT_DEG   -88.00f

Definition at line 120 of file wb_hal_leg_target.h.

◆ RIGHT_HIP_PITCH_FRONT_RAD

#define RIGHT_HIP_PITCH_FRONT_RAD   -1.535889f

Definition at line 146 of file wb_hal_leg_target.h.

◆ RIGHT_HIP_ROLL_IN_DEG

#define RIGHT_HIP_ROLL_IN_DEG   21.74f

Definition at line 119 of file wb_hal_leg_target.h.

◆ RIGHT_HIP_ROLL_IN_RAD

#define RIGHT_HIP_ROLL_IN_RAD   0.379472f

Definition at line 145 of file wb_hal_leg_target.h.

◆ RIGHT_HIP_ROLL_OUT_DEG

#define RIGHT_HIP_ROLL_OUT_DEG   -45.29f

Definition at line 118 of file wb_hal_leg_target.h.

◆ RIGHT_HIP_ROLL_OUT_RAD

#define RIGHT_HIP_ROLL_OUT_RAD   -0.790477f

Definition at line 144 of file wb_hal_leg_target.h.

◆ RIGHT_KNEE_PITCH_BACK_DEG

#define RIGHT_KNEE_PITCH_BACK_DEG   121.47f

Definition at line 123 of file wb_hal_leg_target.h.

◆ RIGHT_KNEE_PITCH_BACK_RAD

#define RIGHT_KNEE_PITCH_BACK_RAD   2.120198f

Definition at line 149 of file wb_hal_leg_target.h.

◆ RIGHT_KNEE_PITCH_FRONT_DEG

#define RIGHT_KNEE_PITCH_FRONT_DEG   -5.90f

Definition at line 122 of file wb_hal_leg_target.h.

◆ RIGHT_KNEE_PITCH_FRONT_RAD

#define RIGHT_KNEE_PITCH_FRONT_RAD   -0.103083f

Definition at line 148 of file wb_hal_leg_target.h.

◆ RIGHT_LEG

#define RIGHT_LEG   (static_cast<uint8_t>(1))

Definition at line 92 of file wb_hal_leg_target.h.

Function Documentation

◆ wb_hal_leg_target_description()

const char * wb_hal_leg_target_description ( const struct wb_hal_leg_target *  self,
char *  descString,
size_t  bufferSize 
)

Convert to a description string.

Definition at line 310 of file wb_hal_leg_target.c.

Referenced by guWhiteboard::HalLegTarget::description().

◆ wb_hal_leg_target_from_network_serialised()

size_t wb_hal_leg_target_from_network_serialised ( const char *  src,
struct wb_hal_leg_target *  dst 
)

Network stream deserialisation.

Network stream deserialisation.

Definition at line 1229 of file wb_hal_leg_target.c.

References ntohl, ntohs, wb_hal_leg_target::target_anklepitch, wb_hal_leg_target::target_anklepitch_active, wb_hal_leg_target::target_anklepitchstiffness, wb_hal_leg_target::target_ankleroll, wb_hal_leg_target::target_ankleroll_active, wb_hal_leg_target::target_anklerollstiffness, wb_hal_leg_target::target_hippitch, wb_hal_leg_target::target_hippitch_active, wb_hal_leg_target::target_hippitchstiffness, wb_hal_leg_target::target_hiproll, wb_hal_leg_target::target_hiproll_active, wb_hal_leg_target::target_hiprollstiffness, wb_hal_leg_target::target_hipyawpitch, wb_hal_leg_target::target_hipyawpitch_active, wb_hal_leg_target::target_hipyawpitchstiffness, wb_hal_leg_target::target_kneepitch, wb_hal_leg_target::target_kneepitch_active, wb_hal_leg_target::target_kneepitchstiffness, wb_hal_leg_target::target_leg, wb_hal_leg_target::target_leg_at_goal, wb_hal_leg_target::target_leg_stop, wb_hal_leg_target::target_movement_time, and wb_hal_leg_target::target_pliability.

◆ wb_hal_leg_target_from_string()

struct wb_hal_leg_target * wb_hal_leg_target_from_string ( struct wb_hal_leg_target *  self,
const char *  str 
)

Convert from a string.

Definition at line 694 of file wb_hal_leg_target.c.

References HAL_LEG_TARGET_DESC_BUFFER_SIZE.

◆ wb_hal_leg_target_to_network_serialised()

size_t wb_hal_leg_target_to_network_serialised ( const struct wb_hal_leg_target *  self,
char *  dst 
)

Network stream serialisation.

Network stream serialisation.

Definition at line 944 of file wb_hal_leg_target.c.

References htonl, and htons.

◆ wb_hal_leg_target_to_string()

const char * wb_hal_leg_target_to_string ( const struct wb_hal_leg_target *  self,
char *  toString,
size_t  bufferSize 
)

Convert to a string.

Definition at line 502 of file wb_hal_leg_target.c.

Referenced by guWhiteboard::HalLegTarget::to_string().

◆ wb_hal_leg_target_value_description()

const char * wb_hal_leg_target_value_description ( const struct wb_hal_leg_target *  self,
char *  toString,
size_t  bufferSize 
)

WHITEBOARD_POSTER_STRING_CONVERSION.

WHITEBOARD_POSTER_STRING_CONVERSION.

Definition at line 124 of file wb_hal_leg_target.c.

Referenced by guWhiteboard::HalLegTarget::valueDescription().