Fawkes API  Fawkes Development Version
fawkes::KatanaInterface::KatanaInterface_data_t Struct Reference

Internal data storage, do NOT modify! More...

List of all members.

Public Attributes

int64_t timestamp_sec
 Interface Unix timestamp, seconds.
int64_t timestamp_usec
 Interface Unix timestamp, micro-seconds.
uint8_t sensor_value [16]
 Sensor values.
float x
 X-Coordinate for tool position compared to base coordinate system.
float y
 Y-Coordinate for tool position compared to base coordinate system.
float z
 Z-Coordinate for tool position compared to base coordinate system.
float phi
 Euler angle Phi of tool orientation.
float theta
 Euler angle Theta of tool orientation.
float psi
 Euler angle Psi of tool orientation.
uint32_t msgid
 The ID of the message that is currently being processed, or 0 if no message is being processed.
bool final
 True, if the last goto command has been finished, false if it is still running.
uint32_t error_code
 Failure code set if final is true.
bool enabled
 Are motors enabled?
bool calibrated
 Has arm been calibrated?
uint8_t max_velocity
 Maximum velocity.
uint8_t num_motors
 Number of motors.

Detailed Description

Internal data storage, do NOT modify!


Member Data Documentation

Has arm been calibrated?

Definition at line 88 of file KatanaInterface.h.

Failure code set if final is true.

0 if no error occured, an error code from ERROR_* constants otherwise (or a bit-wise combination).

Definition at line 84 of file KatanaInterface.h.

True, if the last goto command has been finished, false if it is still running.

Definition at line 82 of file KatanaInterface.h.

The ID of the message that is currently being processed, or 0 if no message is being processed.

Definition at line 80 of file KatanaInterface.h.

Number of motors.

Definition at line 90 of file KatanaInterface.h.

Sensor values.

Use SENSOR_* indexes for accessing the values.

Definition at line 69 of file KatanaInterface.h.

Interface Unix timestamp, seconds.

Definition at line 67 of file KatanaInterface.h.

Interface Unix timestamp, micro-seconds.

Definition at line 68 of file KatanaInterface.h.

X-Coordinate for tool position compared to base coordinate system.

Definition at line 71 of file KatanaInterface.h.

Referenced by fawkes::KatanaInterface::LinearGotoMessage::x(), and fawkes::KatanaInterface::LinearGotoMessage::set_x().

Y-Coordinate for tool position compared to base coordinate system.

Definition at line 73 of file KatanaInterface.h.

Referenced by fawkes::KatanaInterface::LinearGotoMessage::y(), and fawkes::KatanaInterface::LinearGotoMessage::set_y().

Z-Coordinate for tool position compared to base coordinate system.

Definition at line 75 of file KatanaInterface.h.

Referenced by fawkes::KatanaInterface::LinearGotoMessage::z(), and fawkes::KatanaInterface::LinearGotoMessage::set_z().


The documentation for this struct was generated from the following file: