60#ifndef wb_nao_sonar_protected_walk_command_h
61#define wb_nao_sonar_protected_walk_command_h
63#pragma clang diagnostic push
64#pragma clang diagnostic ignored "-Wreserved-id-macro"
68# define _POSIX_SOURCE 200112L
72# define _XOPEN_SOURCE 700
75# ifndef _DARWIN_C_SOURCE
76# define _DARWIN_C_SOURCE 200112L
78# ifndef __DARWIN_C_LEVEL
79# define __DARWIN_C_LEVEL 200112L
83#pragma clang diagnostic pop
88#define NAO_SONAR_PROTECTED_WALK_COMMAND_GENERATED
89#define NAO_SONAR_PROTECTED_WALK_COMMAND_C_STRUCT wb_nao_sonar_protected_walk_command
90#define NAO_SONAR_PROTECTED_WALK_COMMAND_NUMBER_OF_VARIABLES 15
92#ifdef WHITEBOARD_POSTER_STRING_CONVERSION
93#define NAO_SONAR_PROTECTED_WALK_COMMAND_DESC_BUFFER_SIZE 254
94#define NAO_SONAR_PROTECTED_WALK_COMMAND_TO_STRING_BUFFER_SIZE 96
186#ifdef WHITEBOARD_POSTER_STRING_CONVERSION
WHITEBOARD_POSTER_STRING_CONVERSION.
bool kickWithLeftFoot
which foot to use for kicking
bool rightArmLimp
lower stiffness in the arms when walking, allows the arm to move a little more.
bool walkEngineOn
connects the dcm callbacks.
bool leftArmLimp
lower stiffness in the arms when walking, allows the arm to move a little more.
int8_t priority
subsumption priority 1: unprotected walk, command unmodified.
bool useShuffle
limits the step height so the robot 'shuffles' instead of taking larger steps.
int16_t left
[-200 - 200] step-size(mm) per second, limited to +/- 200mm/step
uint8_t power
[0 - 100] stiffness, auto set to minimum needed values.
bool exactStepsRequested
No ratcheting, no speed 'buildup', just full step sizes.
uint8_t odometryResetCounter
Odometry will reset any time this is changed or incremented.
int16_t forward
[-300 - 300] step-size(mm) per second, limited to +/- 300mm/step
uint8_t bend
[0 - 1] controls what the robot does when stopped, 0 == STAND and lower stiffness,...
int8_t turn
[-85 - 85] step-size(mm) per second, limited to +/- 85deg/step
uint8_t speed
[0 - 100] modifier for forward etc.
size_t wb_nao_sonar_protected_walk_command_from_network_serialised(const char *src, struct wb_nao_sonar_protected_walk_command *dst)
Network stream deserialisation.
struct wb_nao_sonar_protected_walk_command * wb_nao_sonar_protected_walk_command_from_string(struct wb_nao_sonar_protected_walk_command *self, const char *str)
Convert from a string.
const char * wb_nao_sonar_protected_walk_command_to_string(const struct wb_nao_sonar_protected_walk_command *self, char *toString, size_t bufferSize)
Convert to a string.
size_t wb_nao_sonar_protected_walk_command_to_network_serialised(const struct wb_nao_sonar_protected_walk_command *self, char *dst)
WHITEBOARD_POSTER_STRING_CONVERSION.
const char * wb_nao_sonar_protected_walk_command_description(const struct wb_nao_sonar_protected_walk_command *self, char *descString, size_t bufferSize)
Convert to a description string.