OpenRTM-aist IDL: InterfaceDataTypes.idl Source File

00001 // -*- IDL -*-
00017 #ifndef InterfaceDataTypes_idl
00018 #define InterfaceDataTypes_idl
00019 
00020 #include "BasicDataType.idl"
00021 #include "ExtendedDataTypes.idl"
00022 
00023 module RTC {
00024     //------------------------------------------------------------
00025     // ActArray
00026     //------------------------------------------------------------
00027 
00032     struct ActArrayActuatorPos
00033     {
00035         Time tm;
00037         unsigned short index;
00039         double position;
00040     };
00041 
00046     struct ActArrayActuatorSpeed
00047     {
00049         Time tm;
00051         unsigned short index;
00053         double speed;
00054     };
00055 
00060     struct ActArrayActuatorCurrent
00061     {
00063         Time tm;
00065         unsigned short index;
00067         double current;
00068     };
00069 
00074     enum ActArrayActuatorStatus {ACTUATOR_STATUS_IDLE,
00075                                  ACTUATOR_STATUS_MOVING,
00076                                  ACTUATOR_STATUS_BRAKED,
00077                                  ACTUATOR_STATUS_STALLED};
00078 
00083     struct Actuator
00084     {
00087         double position;
00089         double speed;
00091         double accel;
00093         double current;
00095         ActArrayActuatorStatus status;
00096     };
00097 
00102     typedef sequence<Actuator> ActuatorList;
00107     struct ActArrayState
00108     {
00110         Time tm;
00112         ActuatorList actuators;
00113     };
00114 
00119     enum ActArrayActuatorType {ACTARRAY_ACTUATORTYPE_LINEAR,
00120                                ACTARRAY_ACTUATORTYPE_ROTARY};
00121 
00126     struct ActArrayActuatorGeometry
00127     {
00129         ActArrayActuatorType type;
00132         double length;
00137         Orientation3D orientation;
00139         Vector3D axis;
00141         double minRange;
00143         double centre;
00145         double maxRange;
00147         double homePosition;
00149         boolean hasBrakes;
00150     };
00151 
00156     typedef sequence<ActArrayActuatorGeometry> ActArrayActuatorGeometryList;
00157 
00162     struct ActArrayGeometry
00163     {
00165         Geometry3D arrayGeometry;
00167         ActArrayActuatorGeometryList actuatorGeometry;
00168     };
00169 
00170     //------------------------------------------------------------
00171     // Bumper
00172     //------------------------------------------------------------
00173 
00178     struct BumperGeometry
00179     {
00181         Pose3D pose;
00183         Size3D size;
00185         double roc;
00186     };
00187 
00191     typedef sequence<BumperGeometry> BumperGeometryList;
00192 
00197     struct BumperArrayGeometry
00198     {
00200         Geometry3D arrayGeometry;
00202         BumperGeometryList bumperGeometry;
00203     };
00204 
00205     //------------------------------------------------------------
00206     // Camera
00207     //------------------------------------------------------------
00208 
00213     struct CameraImage
00214     {
00216         Time tm;
00218         unsigned short width;
00220         unsigned short height;
00222         unsigned short bpp;
00224         string format;
00226         double fDiv;
00228         sequence<octet> pixels;
00229     };
00230 
00235     struct CameraInfo
00236     {
00238         Vector2D focalLength;
00240         Point2D principalPoint;
00242         double k1;
00244         double k2;
00246         double p1;
00248         double p2;
00249     };
00250 
00251     //------------------------------------------------------------
00252     // Fiducial
00253     //------------------------------------------------------------
00254 
00259     struct FiducialInfo
00260     {
00262         unsigned long id;
00264         Pose3D pose;
00266         Pose3D poseUncertainty;
00268         Size3D size;
00270         Size3D sizeUncertainty;
00271     };
00272 
00276     typedef sequence<FiducialInfo> FiducialInfoList;
00277 
00282     struct Fiducials
00283     {
00285         Time tm;
00287         FiducialInfoList fiducialsList;
00288     };
00289 
00294     struct FiducialFOV
00295     {
00297         double minRange;
00299         double maxRange;
00301         double viewAngle;
00302     };
00303 
00304     //------------------------------------------------------------
00305     // GPS
00306     //------------------------------------------------------------
00307 
00312     struct GPSTime
00313     {
00315         unsigned long sec;
00317         unsigned long msec;
00318     };
00319 
00323     enum GPSFixType {GPS_FIX_NONE,
00324                      GPS_FIX_NORMAL,
00325                      GPS_FIX_DGPS};
00326 
00331     struct GPSData
00332     {
00334         Time tm;
00336         GPSTime timeFromGPS;
00338         double latitude;
00340         double longitude;
00342         double altitude;
00344         double horizontalError;
00346         double verticalError;
00348         double heading;
00350         double horizontalSpeed;
00352         double verticalSpeed;
00354         unsigned short numSatellites;
00356         GPSFixType fixType;
00357     };
00358 
00359     //------------------------------------------------------------
00360     // Gripper
00361     //------------------------------------------------------------
00362 
00367     enum GripperStatus {GRIPPER_STATE_OPEN,
00368                         GRIPPER_STATE_CLOSED,
00369                         GRIPPER_STATE_MOVING,
00370                         GRIPPER_STATE_UNKNOWN};
00371 
00376     struct GripperState
00377     {
00379         Time tm;
00381         GripperStatus status;
00382     };
00383 
00388     struct GripperGeometry
00389     {
00391         Geometry3D exterior;
00393         Geometry3D interior;
00394     };
00395 
00396     //------------------------------------------------------------
00397     // INS
00398     //------------------------------------------------------------
00399 
00404     struct INSData
00405     {
00407         Time tm;
00409         double latitude;
00411         double longitude;
00413         double altitude;
00415         double heightAMSL;
00417         Velocity3D velocityENU;
00419         Orientation3D orientation;
00420     };
00421 
00422     //------------------------------------------------------------
00423     // Limb
00424     //------------------------------------------------------------
00425 
00429     enum LimbStatus {LIMB_STATUS_IDLE,
00430                      LIMB_STATUS_BRAKED,
00431                      LIMB_STATUS_MOVING,
00432                      LIMB_STATUS_OOR,
00433                      LIMB_STATUS_COLLISION};
00434 
00439     struct LimbState
00440     {
00442         Time tm;
00444         OAP oapMatrix;
00446         LimbStatus status;
00447     };
00448 
00449     //------------------------------------------------------------
00450     // Localise
00451     //------------------------------------------------------------
00452 
00457     struct Hypothesis2D
00458     {
00460         Pose2D mean;
00462         Covariance2D covariance;
00464         double weight;
00465     };
00466 
00470     typedef sequence<Hypothesis2D> Hypothesis2DList;
00471 
00476     struct Hypotheses2D
00477     {
00479         Time tm;
00481         Hypothesis2DList hypotheses;
00482     };
00483 
00488     struct Hypothesis3D
00489     {
00491         Pose3D mean;
00493         Covariance3D covariance;
00495         double weight;
00496     };
00497 
00501     typedef sequence<Hypothesis3D> Hypothesis3DList;
00502 
00507     struct Hypotheses3D
00508     {
00510         Time tm;
00512         Hypothesis3DList hypotheses;
00513     };
00514 
00515     //------------------------------------------------------------
00516     // Map
00517     //------------------------------------------------------------
00518 
00523     struct OGMapConfig
00524     {
00526         double xScale;
00528         double yScale;
00530         unsigned long width;
00532         unsigned long height;
00534         Pose2D origin;
00535     };
00536 
00540     typedef sequence<octet> OGMapCells;
00541 
00546     struct OGMapTile
00547     {
00549         unsigned long column;
00551         unsigned long row;
00553         unsigned long width;
00555         unsigned long height;
00557         OGMapCells cells;
00558     };
00559 
00564     struct PointFeature
00565     {
00567         double probability;
00569         Point2D position;
00571         PointCovariance2D covariance;
00572     };
00576     typedef sequence<PointFeature> PointFeatureList;
00577 
00582     struct PoseFeature
00583     {
00585         double probability;
00587         Pose2D position;
00589         Covariance2D covariance;
00590     };
00594     typedef sequence<PoseFeature> PoseFeatureList;
00595 
00600     struct LineFeature
00601     {
00603         double probability;
00605         double rho;
00607         double alpha;
00609         PointCovariance2D covariance;
00611         Point2D start;
00613         Point2D end;
00615         boolean startSighted;
00617         boolean endSighted;
00618     };
00622     typedef sequence<LineFeature> LineFeatureList;
00623 
00628     struct Features
00629     {
00631         Time tm;
00633         PointFeatureList pointFeatures;
00635         PoseFeatureList poseFeatures;
00637         LineFeatureList lineFeatures;
00638     };
00639 
00640     //------------------------------------------------------------
00641     // Multicamera
00642     //------------------------------------------------------------
00643 
00647     typedef sequence<CameraImage> MulticameraImageList;
00652     struct MultiCameraImages
00653     {
00655         Time tm;
00657         MulticameraImageList images;
00658     };
00659 
00663     typedef sequence<CameraInfo> MulticameraInfoList;
00664 
00668     typedef sequence<Geometry3D> MulticameraGeometryList;
00669 
00674     struct MulticameraGeometry
00675     {
00677         Geometry3D geometry;
00679         MulticameraGeometryList cameraGeometries;
00680     };
00681 
00682     //------------------------------------------------------------
00683     // Paths
00684     //------------------------------------------------------------
00685 
00690     struct Waypoint2D
00691     {
00693         Pose2D target;
00695         double distanceTolerance;
00697         double headingTolerance;
00699         Time timeLimit;
00701         Velocity2D maxSpeed;
00702     };
00703 
00707     typedef sequence<Waypoint2D> Waypoint2DList;
00708 
00713     struct Path2D
00714     {
00716         Time tm;
00718         Waypoint2DList waypoints;
00719     };
00720 
00725     struct Waypoint3D
00726     {
00728         Pose3D target;
00730         double distanceTolerance;
00732         double headingTolerance;
00734         Time timeLimit;
00736         Velocity3D maxSpeed;
00737     };
00738 
00742     typedef sequence<Waypoint3D> Waypoint3DList;
00743 
00748     struct Path3D
00749     {
00751         Time tm;
00753         Waypoint3DList waypoints;
00754     };
00755 
00756     //------------------------------------------------------------
00757     // PointCloud
00758     //------------------------------------------------------------
00759 
00764     struct PointCloudPoint
00765     {
00767         Point3D point;
00769         RGBColour colour;
00770     };
00771 
00775     typedef sequence<PointCloudPoint> PointCloudPointList;
00776 
00781     struct PointCloud
00782     {
00784         Time tm;
00786         PointCloudPointList points;
00787     };
00788 
00789     //------------------------------------------------------------
00790     // PanTilt
00791     //------------------------------------------------------------
00792 
00797     struct PanTiltAngles
00798     {
00800         Time tm;
00802         double pan;
00804         double tilt;
00805     };
00806 
00811     struct PanTiltState
00812     {
00814         Time tm;
00816         PanTiltAngles angles;
00818         double panSpeed;
00820         double tiltSpeed;
00821     };
00822 
00823     //------------------------------------------------------------
00824     // Ranger
00825     //------------------------------------------------------------
00826 
00830     typedef sequence<Geometry3D> ElementGeometryList;
00831 
00840     struct RangerGeometry
00841     {
00843         Geometry3D geometry;
00846         ElementGeometryList elementGeometries;
00847     };
00848 
00853     struct RangerConfig
00854     {
00856         double minAngle;
00858         double maxAngle;
00860         double angularRes;
00862         double minRange;
00864         double maxRange;
00866         double rangeRes;
00868         double frequency;
00869     };
00870 
00874     typedef sequence<double> RangeList;
00875 
00880     struct RangeData
00881     {
00883         Time tm;
00885         RangeList ranges;
00887         RangerGeometry geometry;
00889         RangerConfig config;
00890     };
00891 
00895     typedef sequence<double> IntensityList;
00896 
00901     struct IntensityData
00902     {
00904         Time tm;
00906         IntensityList intensities;
00908         RangerGeometry geometry;
00910         RangerConfig config;
00911     };
00912 
00913     //------------------------------------------------------------
00914     // RFID
00915     //------------------------------------------------------------
00916 
00920     typedef sequence<octet> RFIDTagData;
00921 };
00922 
00923 #endif // InterfaceDataTypes_idl