forked from fkanehiro/hrpsys-base
-
Notifications
You must be signed in to change notification settings - Fork 0
/
StateHolderService.idl
31 lines (28 loc) · 830 Bytes
/
StateHolderService.idl
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
/**
* @file StateHolderService.idl
* @brief Services for the state holder interface
*/
module OpenHRP
{
interface StateHolderService
{
typedef sequence<double> DblSequence;
/**
* @brief output current joint angles as reference joint angles
*/
void goActual();
/**
@brief reference joint angles and transfrom of the base link
*/
struct Command{
DblSequence jointRefs; ///< reference joint angles[rad]
DblSequence baseTransform; ///< reference transform of the base link
DblSequence zmp; ///< reference zmp[m] w.r.t. the base link
};
/**
@brief get reference joint angles and a transform of the base link
@param com reference joint angles and a transform of the base link
*/
void getCommand(out Command com);
};
};