wb_hal_leg_target.h

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/*
 * file wb_hal_leg_target.h
 *
 * This file was generated by classgenerator from hal_leg_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_leg_target_h
#define wb_hal_leg_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>
 
#include <stdint.h>
 
#ifdef __cplusplus
#define LEFT_LEG (static_cast<uint8_t>(0))
#define RIGHT_LEG (static_cast<uint8_t>(1))
#else
#define LEFT_LEG ((uint8_t)0)
#define RIGHT_LEG ((uint8_t)1)
#endif
 
#define HIP_YAWPITCH_LIMIT_BACK_DEG -65.62f
#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
#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
 
#ifdef WHITEBOARD_POSTER_STRING_CONVERSION
#define HAL_LEG_TARGET_DESC_BUFFER_SIZE 691
#define HAL_LEG_TARGET_TO_STRING_BUFFER_SIZE 204
#endif 
 
#ifdef __cplusplus
extern "C" {
#endif
 
struct wb_hal_leg_target
{
 
    int32_t target_movement_time;
 
    int16_t target_hipyawpitch;
 
    int16_t target_hiproll;
 
    int16_t target_hippitch;
 
    int16_t target_kneepitch;
 
    int16_t target_anklepitch;
 
    int16_t target_ankleroll;
 
    uint8_t target_leg;
 
    uint8_t target_hipyawpitchstiffness;
 
    uint8_t target_hiprollstiffness;
 
    uint8_t target_hippitchstiffness;
 
    uint8_t target_kneepitchstiffness;
 
    uint8_t target_anklepitchstiffness;
 
    uint8_t target_anklerollstiffness;
 
    uint8_t target_pliability;
 
    unsigned int target_hipyawpitch_active : 1;
 
    unsigned int target_hiproll_active : 1;
 
    unsigned int target_hippitch_active : 1;
 
    unsigned int target_kneepitch_active : 1;
 
    unsigned int target_anklepitch_active : 1;
 
    unsigned int target_ankleroll_active : 1;
 
    unsigned int target_leg_at_goal : 1;
 
    unsigned int target_leg_stop : 1;
 
};
 
#ifdef WHITEBOARD_POSTER_STRING_CONVERSION
 
const char* wb_hal_leg_target_description(const struct wb_hal_leg_target* self, char* descString, size_t bufferSize);
 
const char* wb_hal_leg_target_to_string(const struct wb_hal_leg_target* self, char* toString, size_t bufferSize);
 
struct wb_hal_leg_target* wb_hal_leg_target_from_string(struct wb_hal_leg_target* self, const char* str);
 
#endif 
 
#ifdef WHITEBOARD_POSTER_STRING_CONVERSION
const char* wb_hal_leg_target_value_description(const struct wb_hal_leg_target* self, char* toString, size_t bufferSize);
#endif
 
/*#ifdef WHITEBOARD_SERIALISATION*/
 
size_t wb_hal_leg_target_to_network_serialised(const struct wb_hal_leg_target *self, char *dst);
 
size_t wb_hal_leg_target_from_network_serialised(const char *src, struct wb_hal_leg_target *dst);
 
/*#endif /// WHITEBOARD_SERIALISATION*/
 
#ifdef __cplusplus
}
#endif
 
#endif