ManipulatorCommonInterface_DataTypes.idl

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/*
  Manipulator Common Interface (Data type defenition)
    - This IDL is used as service port on RTC
    - This command specification is provided by Intelligent RT Software
  Project of JARA.
  rev. 20140205
*/

#ifndef MANIPULATORCOMMONINTERFACE_DATATYPES_IDL
#define MANIPULATORCOMMONINTERFACE_DATATYPES_IDL

#include "BasicDataType.idl"

module JARA_ARM {

  typedef sequence<double> DoubleSeq;
  typedef sequence<double> JointPos;

  struct LimitValue {
    double upper;
    double lower;
  };

  struct RETURN_ID{
    long id;
    string comment;
  };

  const long OK = 0;
  const long NG = -1;
  const long STATUS_ERR = -2;
  const long VALUE_ERR = -3;
  const long NOT_SV_ON_ERR = -4;
  const long FULL_MOTION_QUEUE_ERR = -5;
  const long NOT_IMPLEMENTED = -6;

  struct TimedJointPos {
    RTC::Time tm;
    JointPos pos;
  };

  typedef unsigned long ULONG;
};

#endif // MANIPULATORCOMMONINTERFACE_DATATYPES_IDL