CARMEN: base/segway_base/segway_messages.h Source File

00001 /*********************************************************
00002  *
00003  * This source code is part of the Carnegie Mellon Robot
00004  * Navigation Toolkit (CARMEN)
00005  *
00006  * CARMEN Copyright (c) 2002 Michael Montemerlo, Nicholas
00007  * Roy, and Sebastian Thrun
00008  *
00009  * CARMEN is free software; you can redistribute it and/or 
00010  * modify it under the terms of the GNU General Public 
00011  * License as published by the Free Software Foundation; 
00012  * either version 2 of the License, or (at your option)
00013  * any later version.
00014  *
00015  * CARMEN is distributed in the hope that it will be useful,
00016  * but WITHOUT ANY WARRANTY; without even the implied 
00017  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
00018  * PURPOSE.  See the GNU General Public License for more 
00019  * details.
00020  *
00021  * You should have received a copy of the GNU General 
00022  * Public License along with CARMEN; if not, write to the
00023  * Free Software Foundation, Inc., 59 Temple Place, 
00024  * Suite 330, Boston, MA  02111-1307 USA
00025  *
00026  ********************************************************/
00027 
00029 // @{
00030 
00038 #ifndef SEGWAY_MESSAGES_H
00039 #define SEGWAY_MESSAGES_H
00040 
00041 #ifdef __cplusplus
00042 extern "C" {
00043 #endif
00044 
00045 typedef struct {
00046   double timestamp;
00047   char *host;
00048   double pitch, pitch_rate;
00049   double roll, roll_rate;
00050   double lw_velocity, rw_velocity;
00051   double tv, rv;
00052   double x, y, theta;
00053 } carmen_segway_pose_message;
00054 
00055 #define CARMEN_SEGWAY_POSE_NAME "carmen_segway_pose"
00056 #define CARMEN_SEGWAY_POSE_FMT "{double,string,double,double,double,double,double,double,double,double,double,double,double}"
00057 
00058 typedef struct {
00059   double timestamp;
00060   char *host;
00061   int percent;
00062 } carmen_segway_battery_message;
00063 
00064 #define CARMEN_SEGWAY_BATTERY_NAME "carmen_segway_battery"
00065 #define CARMEN_SEGWAY_BATTERY_FMT  "{double,string,int}"
00066 
00067 #define CARMEN_SEGWAY_KILL_NAME "carmen_segway_kill"
00068 #define CARMEN_SEGWAY_KILL_FMT  ""
00069 
00070 #ifdef __cplusplus
00071 }
00072 #endif
00073 
00074 #endif