OpenRTM-aist IDL 2.1.0
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ExtendedDataTypes.idl
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1// -*- IDL -*-
17#ifndef ExtendedDataTypes_idl
18#define ExtendedDataTypes_idl
19
20#include "BasicDataType.idl"
21
22module RTC {
28 struct RGBColour
29 {
30 double r;
31 double g;
32 double b;
33 };
34
35 //------------------------------------------------------------
36 // 2D data types
37 //------------------------------------------------------------
38
43 struct Point2D
44 {
46 double x;
48 double y;
49 };
50
55 struct Vector2D
56 {
58 double x;
60 double y;
61 };
62
67 struct Pose2D
68 {
72 double heading;
73 };
74
80 {
82 double vx;
84 double vy;
86 double va;
87 };
88
94 {
96 double ax;
98 double ay;
99 };
100
110
115 struct Size2D
116 {
118 double l;
120 double w;
121 };
122
128 {
134 };
135
141 {
143 double xx;
145 double xy;
147 double xt;
149 double yy;
151 double yt;
153 double tt;
154 };
155
161 {
163 double xx;
165 double xy;
167 double yy;
168 };
169
174 struct Carlike
175 {
177 double speed;
180 };
181
187 {
189 double speed;
191 double heading;
192 };
193
194 //------------------------------------------------------------
195 // 3D data types
196 //------------------------------------------------------------
197
202 struct Point3D
203 {
205 double x;
207 double y;
209 double z;
210 };
211
216 struct Vector3D
217 {
219 double x;
221 double y;
223 double z;
224 };
225
231 {
233 double r;
235 double p;
237 double y;
238 };
239
251
257 {
259 double vx;
261 double vy;
263 double vz;
265 double vr;
267 double vp;
269 double va;
270 };
271
277 {
279 double avx;
281 double avy;
283 double avz;
284 };
285
291 {
293 double ax;
295 double ay;
297 double az;
298 };
299
305 {
307 double aax;
309 double aay;
311 double aaz;
312 };
313
323
328 struct Size3D
329 {
331 double l;
333 double w;
335 double h;
336 };
337
343 {
349 };
350
356 {
358 double xx;
360 double xy;
362 double xz;
364 double xr;
366 double xp;
368 double xa;
370 double yy;
372 double yz;
374 double yr;
376 double yp;
378 double ya;
380 double zz;
382 double zr;
384 double zp;
386 double za;
388 double rr;
390 double rp;
392 double ra;
394 double pp;
396 double pa;
398 double aa;
399 };
400
412
423
424 //------------------------------------------------------------
425 // Timed data types
426 //------------------------------------------------------------
427
437
443 {
446 };
447
457
463 {
466 };
467
477
487
497
503 {
506 };
507
517
527
537
543 {
546 };
547
557
563 {
566 };
567
577
587
593 {
596 };
597
607
617
627
637
647
653 {
656 };
657
667
677
687
692 struct TimedOAP
693 {
696 };
697
703 {
704 double x;
705 double y;
706 double z;
707 double w;
708 };
709
719
720 #pragma keylist TimedRGBColour
721 #pragma keylist TimedPoint2D
722 #pragma keylist TimedVector2D
723 #pragma keylist TimedPose2D
724 #pragma keylist TimedVelocity2D
725 #pragma keylist TimedAcceleration2D
726 #pragma keylist TimedPoseVel2D
727 #pragma keylist TimedSize2D
728 #pragma keylist TimedGeometry2D
729 #pragma keylist TimedCovariance2D
730 #pragma keylist TimedPointCovariance2D
731 #pragma keylist TimedCarlike
732 #pragma keylist TimedSpeedHeading2D
733 #pragma keylist TimedPoint3D
734 #pragma keylist TimedVector3D
735 #pragma keylist TimedOrientation3D
736 #pragma keylist TimedPose3D
737 #pragma keylist TimedVelocity3D
738 #pragma keylist TimedAngularVelocity3D
739 #pragma keylist TimedAcceleration3D
740 #pragma keylist TimedAngularAcceleration3D
741 #pragma keylist TimedPoseVel3D
742 #pragma keylist TimedSize3D
743 #pragma keylist TimedGeometry3D
744 #pragma keylist TimedCovariance3D
745 #pragma keylist TimedSpeedHeading3D
746 #pragma keylist TimedOAP
747};
748
749#endif // ExtendedDataTypes_idl
Definition BasicDataType.idl:26
Accelerations in 2D cartesian space.
Definition ExtendedDataTypes.idl:94
double ax
Acceleration along the x axis, in metres per second per second.
Definition ExtendedDataTypes.idl:96
double ay
Acceleration along the y axis, in metres per second per second.
Definition ExtendedDataTypes.idl:98
Accelerations in 3D cartesian space.
Definition ExtendedDataTypes.idl:291
double ax
Acceleration along the x axis, in metres per second per second.
Definition ExtendedDataTypes.idl:293
double ay
Acceleration along the y axis, in metres per second per second.
Definition ExtendedDataTypes.idl:295
double az
Acceleration along the z axis, in metres per second per second.
Definition ExtendedDataTypes.idl:297
Angular accelerations in 3D cartesian space.
Definition ExtendedDataTypes.idl:305
double aaz
Acceleration around the z axis, in radians per second per second.
Definition ExtendedDataTypes.idl:311
double aax
Acceleration around the x axis, in radians per second per second.
Definition ExtendedDataTypes.idl:307
double aay
Acceleration around the y axis, in radians per second per second.
Definition ExtendedDataTypes.idl:309
Angular velocities in 3D cartesian space.
Definition ExtendedDataTypes.idl:277
double avx
Velocity around the x axis, in radians per second.
Definition ExtendedDataTypes.idl:279
double avz
Velocity around the z axis, in radians per second.
Definition ExtendedDataTypes.idl:283
double avy
Velocity around the y axis, in radians per second.
Definition ExtendedDataTypes.idl:281
Control specification for a car-like robot.
Definition ExtendedDataTypes.idl:175
double speed
Speed in metres per second.
Definition ExtendedDataTypes.idl:177
double steeringAngle
Steering angle in radians.
Definition ExtendedDataTypes.idl:179
Covariance matrix for a 2D pose.
Definition ExtendedDataTypes.idl:141
double tt
(2, 2) value of the covariance matrix.
Definition ExtendedDataTypes.idl:153
double xy
(0, 1) value of the covariance matrix.
Definition ExtendedDataTypes.idl:145
double xx
(0, 0) value of the covariance matrix.
Definition ExtendedDataTypes.idl:143
double yy
(1, 1) value of the covariance matrix.
Definition ExtendedDataTypes.idl:149
double yt
(1, 2) value of the covariance matrix.
Definition ExtendedDataTypes.idl:151
double xt
(0, 2) value of the covariance matrix.
Definition ExtendedDataTypes.idl:147
Covariance matrix for a 3D pose.
Definition ExtendedDataTypes.idl:356
double rp
(3, 4) value of the covariance matrix.
Definition ExtendedDataTypes.idl:390
double yz
(1, 2) value of the covariance matrix.
Definition ExtendedDataTypes.idl:372
double aa
(5, 5) value of the covariance matrix.
Definition ExtendedDataTypes.idl:398
double xr
(0, 3) value of the covariance matrix.
Definition ExtendedDataTypes.idl:364
double xa
(0, 5) value of the covariance matrix.
Definition ExtendedDataTypes.idl:368
double pa
(4, 5) value of the covariance matrix.
Definition ExtendedDataTypes.idl:396
double zz
(2, 2) value of the covariance matrix.
Definition ExtendedDataTypes.idl:380
double ra
(3, 5) value of the covariance matrix.
Definition ExtendedDataTypes.idl:392
double xz
(0, 2) value of the covariance matrix.
Definition ExtendedDataTypes.idl:362
double xy
(0, 1) value of the covariance matrix.
Definition ExtendedDataTypes.idl:360
double pp
(4, 4) value of the covariance matrix.
Definition ExtendedDataTypes.idl:394
double ya
(1, 5) value of the covariance matrix.
Definition ExtendedDataTypes.idl:378
double yy
(1, 1) value of the covariance matrix.
Definition ExtendedDataTypes.idl:370
double zr
(2, 3) value of the covariance matrix.
Definition ExtendedDataTypes.idl:382
double yp
(1, 4) value of the covariance matrix.
Definition ExtendedDataTypes.idl:376
double za
(2, 5) value of the covariance matrix.
Definition ExtendedDataTypes.idl:386
double rr
(3, 3) value of the covariance matrix.
Definition ExtendedDataTypes.idl:388
double zp
(2, 4) value of the covariance matrix.
Definition ExtendedDataTypes.idl:384
double xx
(0, 0) value of the covariance matrix.
Definition ExtendedDataTypes.idl:358
double xp
(0, 4) value of the covariance matrix.
Definition ExtendedDataTypes.idl:366
double yr
(1, 3) value of the covariance matrix.
Definition ExtendedDataTypes.idl:374
Geometry information for a device in 2D cartesian space.
Definition ExtendedDataTypes.idl:128
Pose2D pose
Definition ExtendedDataTypes.idl:131
Size2D size
Size of the device, taken with the origin at its base point.
Definition ExtendedDataTypes.idl:133
Definition ExtendedDataTypes.idl:343
Size3D size
Size of the device, taken with the origin at its base point.
Definition ExtendedDataTypes.idl:348
Pose3D pose
Definition ExtendedDataTypes.idl:346
Orientation, approach and position vectors.
Definition ExtendedDataTypes.idl:418
Vector3D position
Definition ExtendedDataTypes.idl:421
Vector3D orientation
Definition ExtendedDataTypes.idl:419
Vector3D approach
Definition ExtendedDataTypes.idl:420
Orientation in 3D cartesian space.
Definition ExtendedDataTypes.idl:231
double p
Pitch angle in radians.
Definition ExtendedDataTypes.idl:235
double y
Yaw angle in radians.
Definition ExtendedDataTypes.idl:237
double r
Roll angle in radians.
Definition ExtendedDataTypes.idl:233
Point in 2D cartesian space.
Definition ExtendedDataTypes.idl:44
double y
Y coordinate in metres.
Definition ExtendedDataTypes.idl:48
double x
X coordinate in metres.
Definition ExtendedDataTypes.idl:46
Point in 3D cartesian space.
Definition ExtendedDataTypes.idl:203
double x
X coordinate in metres.
Definition ExtendedDataTypes.idl:205
double z
Z coordinate in metres.
Definition ExtendedDataTypes.idl:209
double y
Y coordinate in metres.
Definition ExtendedDataTypes.idl:207
Covariance matrix for a 2D point.
Definition ExtendedDataTypes.idl:161
double yy
(1, 1) value of the covariance matrix.
Definition ExtendedDataTypes.idl:167
double xx
(0, 0) value of the covariance matrix.
Definition ExtendedDataTypes.idl:163
double xy
(0, 1) value of the covariance matrix.
Definition ExtendedDataTypes.idl:165
Pose in 2D cartesian space.
Definition ExtendedDataTypes.idl:68
double heading
Heading in radians.
Definition ExtendedDataTypes.idl:72
Point2D position
2D position.
Definition ExtendedDataTypes.idl:70
Pose in 3D cartesian space.
Definition ExtendedDataTypes.idl:245
Orientation3D orientation
3D orientation.
Definition ExtendedDataTypes.idl:249
Point3D position
3D position.
Definition ExtendedDataTypes.idl:247
Pose and velocity in 2D cartesian space.
Definition ExtendedDataTypes.idl:106
Velocity2D velocities
Definition ExtendedDataTypes.idl:108
Pose2D pose
Definition ExtendedDataTypes.idl:107
Pose and velocity in 3D cartesian space.
Definition ExtendedDataTypes.idl:319
Velocity3D velocities
Definition ExtendedDataTypes.idl:321
Pose3D pose
Definition ExtendedDataTypes.idl:320
Data type for Quaternion.
Definition ExtendedDataTypes.idl:703
double w
Definition ExtendedDataTypes.idl:707
double y
Definition ExtendedDataTypes.idl:705
double z
Definition ExtendedDataTypes.idl:706
double x
Definition ExtendedDataTypes.idl:704
Red/green/blue colour specification, with values between 0.0 for none and 1.0 for full.
Definition ExtendedDataTypes.idl:29
double g
Definition ExtendedDataTypes.idl:31
double b
Definition ExtendedDataTypes.idl:32
double r
Definition ExtendedDataTypes.idl:30
Size in 2D cartesian space.
Definition ExtendedDataTypes.idl:116
double l
Length in metres.
Definition ExtendedDataTypes.idl:118
double w
Width in metres.
Definition ExtendedDataTypes.idl:120
Size in 3D cartesian space.
Definition ExtendedDataTypes.idl:329
double l
Length in metres.
Definition ExtendedDataTypes.idl:331
double w
Width in metres.
Definition ExtendedDataTypes.idl:333
double h
Height in metres.
Definition ExtendedDataTypes.idl:335
Control specification for a robot capable of moving in a given direction in 2D space.
Definition ExtendedDataTypes.idl:187
double heading
Direction of travel in radians from the x axis.
Definition ExtendedDataTypes.idl:191
double speed
Speed in metres per second.
Definition ExtendedDataTypes.idl:189
Control specification for a robot capable of moving in a given direction in 3D space.
Definition ExtendedDataTypes.idl:406
double speed
Speed in metres per second.
Definition ExtendedDataTypes.idl:408
Orientation3D direction
Direction of travel.
Definition ExtendedDataTypes.idl:410
Definition BasicDataType.idl:31
Time-stamped version of Acceleration2D.
Definition ExtendedDataTypes.idl:483
Acceleration2D data
Definition ExtendedDataTypes.idl:485
Time tm
Definition ExtendedDataTypes.idl:484
Time-stamped version of Acceleration3D.
Definition ExtendedDataTypes.idl:623
Acceleration3D data
Definition ExtendedDataTypes.idl:625
Time tm
Definition ExtendedDataTypes.idl:624
Time-stamped version of AngularAcceleration3D.
Definition ExtendedDataTypes.idl:633
Time tm
Definition ExtendedDataTypes.idl:634
AngularAcceleration3D data
Definition ExtendedDataTypes.idl:635
Time-stamped version of AngularVelocity3D.
Definition ExtendedDataTypes.idl:613
Time tm
Definition ExtendedDataTypes.idl:614
AngularVelocity3D data
Definition ExtendedDataTypes.idl:615
Time-stamped version of Carlike.
Definition ExtendedDataTypes.idl:543
Carlike data
Definition ExtendedDataTypes.idl:545
Time tm
Definition ExtendedDataTypes.idl:544
Time-stamped version of Covariance2D.
Definition ExtendedDataTypes.idl:523
Time tm
Definition ExtendedDataTypes.idl:524
Covariance2D data
Definition ExtendedDataTypes.idl:525
Time-stamped version of Covariance3D.
Definition ExtendedDataTypes.idl:673
Time tm
Definition ExtendedDataTypes.idl:674
Covariance3D data
Definition ExtendedDataTypes.idl:675
Time-stamped version of Geometry2D.
Definition ExtendedDataTypes.idl:513
Time tm
Definition ExtendedDataTypes.idl:514
Geometry2D data
Definition ExtendedDataTypes.idl:515
Time-stamped version of Geometry3D.
Definition ExtendedDataTypes.idl:663
Geometry3D data
Definition ExtendedDataTypes.idl:665
Time tm
Definition ExtendedDataTypes.idl:664
Time-stamped version of OAP.
Definition ExtendedDataTypes.idl:693
Time tm
Definition ExtendedDataTypes.idl:694
OAP data
Definition ExtendedDataTypes.idl:695
Time-stamped version of Orientation3D.
Definition ExtendedDataTypes.idl:583
Orientation3D data
Definition ExtendedDataTypes.idl:585
Time tm
Definition ExtendedDataTypes.idl:584
Time-stamped version of Point2D.
Definition ExtendedDataTypes.idl:443
Point2D data
Definition ExtendedDataTypes.idl:445
Time tm
Definition ExtendedDataTypes.idl:444
Time-stamped version of Point3D.
Definition ExtendedDataTypes.idl:563
Time tm
Definition ExtendedDataTypes.idl:564
Point3D data
Definition ExtendedDataTypes.idl:565
Time-stamped version of PointCovariance2D.
Definition ExtendedDataTypes.idl:533
Time tm
Definition ExtendedDataTypes.idl:534
PointCovariance2D data
Definition ExtendedDataTypes.idl:535
Time-stamped version of Pose2D.
Definition ExtendedDataTypes.idl:463
Time tm
Definition ExtendedDataTypes.idl:464
Pose2D data
Definition ExtendedDataTypes.idl:465
Time-stamped version of Pose3D.
Definition ExtendedDataTypes.idl:593
Time tm
Definition ExtendedDataTypes.idl:594
Pose3D data
Definition ExtendedDataTypes.idl:595
Time-stamped version of PoseVel2D.
Definition ExtendedDataTypes.idl:493
Time tm
Definition ExtendedDataTypes.idl:494
PoseVel2D data
Definition ExtendedDataTypes.idl:495
Time-stamped version of PoseVel3D.
Definition ExtendedDataTypes.idl:643
Time tm
Definition ExtendedDataTypes.idl:644
PoseVel3D data
Definition ExtendedDataTypes.idl:645
Timed version data type for Quaternion.
Definition ExtendedDataTypes.idl:715
Time tm
Definition ExtendedDataTypes.idl:716
Quaternion data
Definition ExtendedDataTypes.idl:717
Time-stamped version of RGBColour.
Definition ExtendedDataTypes.idl:433
Time tm
Definition ExtendedDataTypes.idl:434
RGBColour data
Definition ExtendedDataTypes.idl:435
Time-stamped version of Size2D.
Definition ExtendedDataTypes.idl:503
Size2D data
Definition ExtendedDataTypes.idl:505
Time tm
Definition ExtendedDataTypes.idl:504
Time-stamped version of Size3D.
Definition ExtendedDataTypes.idl:653
Time tm
Definition ExtendedDataTypes.idl:654
Size3D data
Definition ExtendedDataTypes.idl:655
Time-stamped version of SpeedHeading2D.
Definition ExtendedDataTypes.idl:553
Time tm
Definition ExtendedDataTypes.idl:554
SpeedHeading2D data
Definition ExtendedDataTypes.idl:555
Time-stamped version of SpeedHeading3D.
Definition ExtendedDataTypes.idl:683
Time tm
Definition ExtendedDataTypes.idl:684
SpeedHeading3D data
Definition ExtendedDataTypes.idl:685
Time-stamped version of Vector2D.
Definition ExtendedDataTypes.idl:453
Vector2D data
Definition ExtendedDataTypes.idl:455
Time tm
Definition ExtendedDataTypes.idl:454
Time-stamped version of Vector3D.
Definition ExtendedDataTypes.idl:573
Time tm
Definition ExtendedDataTypes.idl:574
Vector3D data
Definition ExtendedDataTypes.idl:575
Time-stamped version of Velocity2D.
Definition ExtendedDataTypes.idl:473
Velocity2D data
Definition ExtendedDataTypes.idl:475
Time tm
Definition ExtendedDataTypes.idl:474
Time-stamped version of Velocity3D.
Definition ExtendedDataTypes.idl:603
Time tm
Definition ExtendedDataTypes.idl:604
Velocity3D data
Definition ExtendedDataTypes.idl:605
Vector in 2D cartesian space.
Definition ExtendedDataTypes.idl:56
double x
X value in metres.
Definition ExtendedDataTypes.idl:58
double y
Y value in metres.
Definition ExtendedDataTypes.idl:60
Vector in 3D cartesian space.
Definition ExtendedDataTypes.idl:217
double z
Z value in metres.
Definition ExtendedDataTypes.idl:223
double y
Y value in metres.
Definition ExtendedDataTypes.idl:221
double x
X value in metres.
Definition ExtendedDataTypes.idl:219
Velocities in 2D cartesian space.
Definition ExtendedDataTypes.idl:80
double vy
Velocity along the y axis in metres per second.
Definition ExtendedDataTypes.idl:84
double vx
Velocity along the x axis in metres per second.
Definition ExtendedDataTypes.idl:82
double va
Yaw velocity in radians per second.
Definition ExtendedDataTypes.idl:86
Velocities in 3D cartesian space.
Definition ExtendedDataTypes.idl:257
double va
Yaw velocity in radians per second.
Definition ExtendedDataTypes.idl:269
double vz
Velocity along the z axis in metres per second.
Definition ExtendedDataTypes.idl:263
double vy
Velocity along the y axis in metres per second.
Definition ExtendedDataTypes.idl:261
double vx
Velocity along the x axis in metres per second.
Definition ExtendedDataTypes.idl:259
double vr
Roll velocity in radians per second.
Definition ExtendedDataTypes.idl:265
double vp
Pitch velocity in radians per second.
Definition ExtendedDataTypes.idl:267