InterfaceDataTypes
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InterfaceDataTypes

ここで定義されているデータ型は、インタフェースの為に定義されたデータ型である。
ここでのデータ型は、すべて　RTCモジュール内で定義されている。

定義されているデータ型

  • struct ActArrayActuatorPos (Time, ushort, double)
    • (ulong x 2, ushort, double)
  • struct ActArrayActuatorSpeed(Time, ushort, double)
    • (ulong x 2, ushort, double)
  • struct ActArrayActuatorCurrent(Time, ushort, double)
    • (ulong x 2, ushort, double)
  • enum ActArrayActuatorStatus {
     ACTUATOR_STATUS_IDLE,
 ACTUATOR_STATUS_MOVING,
 ACTUATOR_STATUS_BRAKED,
 ACTUATOR_STATUS_STALLED
    }; (ulong)
  • struct Actuator (double x 4, ActArrayActuatorStatus)
    • (double x 4, ulong)
  • typedef sequence<Actuator> ActuatorList;
  • struct ActArrayState(Time, ActuatorList)
    • (ulong x 2, sequence<Actuator>) -> (ulong x 2, ulong, (double x 4, ulong) x length)
  • enum ActArrayActuatorType {
     ACTARRAY_ACTUATORTYPE_LINEAR,
 ACTARRAY_ACTUATORTYPE_ROTARY
    }; (ulong)
  • struct ActArrayActuatorGeometry(ActArrayActuatorType, double, Orientation3D,Vector3D,double x 4, boolean)
    • (ulong, double, double x 3, double x 3, double x 4, uchar) -> (ulong, double x 11, uchar)
  • typedef sequence<ActArrayActuatorGeometry> ActArrayActuatorGeometryList;
    • (ulong, (ulong, double x 11, uchar) x length)
  • struct ActArrayGeometry (Geometry3D, ActArrayActuatorGeometryList)
    • (double x 9, ulong, (ulong, double x 11, uchar) x length)
  • struct BumperGeometry(Pose3D, Size3D, double)
    • (double x 6, double x 3, double) -> (double x 10)
  • typedef sequence<BumperGeometry> BumperGeometryList;
    • (ulong, (double x 10) x length)
  • struct BumperArrayGeometry(Geometry3D, BumperGeometryList)
    • (double x 9, ulong, (double x 10) x length)
  • struct CameraImage(Time, ushort x 3, string, double, sequence<octet>)
    • (ulong x 2, ushort x 3, ulong, char x length1, double, ulong, char x length2)
  • struct CameraInfo (Vector2D, Point2D, double x 4)
    • (double x 2, double x 2, double x 4) -> (double x 8)
  • struct FiducialInfo (ulong, Pose3D x 2, Size3D x 2)
    • (ulong, (double x 6) x 2, (double x 3) x 2) -> (ulong, double x 18)
  • typedef sequence<FiducialInfo> FiducialInfoList;
    • (ulong, (ulong, double x 18) x length)
  • struct Fiducials (Time, FiducialInfoList)
    • (ulong x 2, ulong, (ulong, double x 18) x length)
  • struct FiducialFOV(double x 3)
  • struct GPSTime(ulong x 2)
  • enum GPSFixType {
     GPS_FIX_NONE,
 GPS_FIX_NORMAL,
 GPS_FIX_DGPS
    }; (ulong)
  • struct GPSData(Time, GPSTime, double x 8, ushort, GPSFixType)
    • (ulong x 2, ulong x 2, double x 8, ushort, ulong) -> (ulong x 4, double x 8, ushort, ulong)
  • enum GripperStatus {
     GRIPPER_STATE_OPEN,
 GRIPPER_STATE_CLOSED,
 GRIPPER_STATE_MOVING,
 GRIPPER_STATE_UNKNOWN
    };(ulong)
  • struct GripperState(Time, GripperStatus)
    • (ulong x 2, ulong) -> (ulong x 3)
  • struct GripperGeometry (Geometry3D x 2)
    • ((double x 9) x 2) -> (double x 18)
  • struct INSData(Time, double x 4, Velocity3D, Orientation3D)
    • (ulong x 2, double x 4, double x 6, double x 3) -> (ulong x 2, double x 13)
  • enum LimbStatus {
     LIMB_STATUS_IDLE,
 LIMB_STATUS_BRAKED,
 LIMB_STATUS_MOVING,
 LIMB_STATUS_OOR,
 LIMB_STATUS_COLLISION
    };(ulong)
  • struct LimbState(Time, OAP, LimbStatus)
    • (ulong x 2, double x 9, ulong)
  • struct Hypothesis2D(Pose2D, Covariance2D, double)
    • (double x 2, double x 6, double) -> (double x 9)
  • typedef sequence<Hypothesis2D> Hypothesis2DList;
    • (ulong, (double x 9) x length)
  • struct Hypotheses2D (Time, Hypothesis2DList)
    • (ulong x 2, ulong, (double x 9) x length)
  • struct Hypothesis3D (Pose3D. Covariance3D, double)
    • (double x 6, double x 21, double) -> (double x 28)
  • typedef sequence<Hypothesis3D> Hypothesis3DList;
    • (ulong, (double x 28) x length)
  • struct Hypotheses3D (Time, Hypothesis3DList)
    • (ulong x 2, ulong, (double x 28) x length)
  • struct OGMapConfig (double x 2, ulong x 2, Pose2D)
    • (double x 2, ulong x 2, double x 2)
  • typedef sequence<octet> OGMapCells;
    • (ulong, (double x 2, ulong x 2, double x 2) x length)
  • struct OGMapTile(ulong x 4, OGMapCells)
    • (ulong x 4, ulong, (double x 2, ulong x 2, double x 2) x length)
  • struct PointFeature (double, Point2D, PointCovariance2D)
    • (double, double x 2, double x 3) -> (double x 6)
  • typedef sequence<PointFeature> PointFeatureList;
    • (ulong, (double x 6) x length)
  • struct PoseFeature ( double, Pose2D, Covariance2D)
    • (double, double x 2, double x 6) -> (double x 9)
  • typedef sequence<PoseFeature> PoseFeatureList;
    • (ulong, (double x 9) x length)
  • struct LineFeature ( double x 3, PointCovariance2D, Point2D x 2, boolean x 2)
    • (double x 3, double x 3, (double x 2) x 2, uchar x 2) -> (double x 10, uchar x 2)
  • typedef sequence<LineFeature> LineFeatureList;
    • (ulong, (double x 10, uchar x 2) x length)
  • struct Features (Time, PointFeatureList, PoseFeatureList, LineFeatureList)
    • (ulong x 2, ulong, (double x 6) x length1, ulong, (double x 9) x length2, ulong, (double x 10, uchar x 2) x length3)
  • typedef sequence<CameraImage> MulticameraImageList;
    • (ulong, (ulong x 2, ushort x 3, ulong, char x length1, double, ulong, char x length2) x length3)
  • struct MultiCameraImages ( Time, MulticameraImageList )
    • (ulong x 2, ulong, (ulong x 2, ushort x 3, ulong, char x length1, double, ulong, char x length2) x length3)
  • typedef sequence<CameraInfo> MulticameraInfoList;
    • (ulong, (double x 8) x length)
  • typedef sequence<Geometry3D> MulticameraGeometryList;
    • (ulong, (double x 9) x length)
  • struct MulticameraGeometry ( Geometry3D, MulticameraGeometryList)
    • (double x 9, ulong, (double x 9) x length)
  • struct Waypoint2D (Pose2D, double x 2, Time, Pose2D )
    • (double x 2, double x 2, ulong x 2, double x 2) -> (double x 4, ulong x 2, double x 2)
  • typedef sequence<Waypoint2D> Waypoint2DList;
    • (ulong, (double x 4, ulong x 2, double x 2) x length)
  • struct Path2D (Time, Waypoint2DList)
    • (ulong x 2, ulong, (double x 4, ulong x 2, double x 2) x length)
  • struct Waypoint3D (Pose3D, double x 2, Time, Pose3D )
    • (double x 6, double x 2, ulong x 2, double x 6) -> (double x 8, ulong x 2, double x 6)
  • typedef sequence<Waypoint3D> Waypoint3DList;
    • (ulong, (double x 8, ulong x 2, double x 6) x length)
  • struct Path3D (Time, Waypoint3DList)
    • (ulong x 2, ulong, (double x 8, ulong x 2, double x 6) x length)
  • struct PointCloudPoint (Point3D, RGBColor)
    • (double x 3, double x 3) -> (double x 6)
  • typedef sequence<PointCloudPoint> PointCloudPointList;
    • (ulong, (double x 6) x length)
  • struct PointCloud ( Time, PointCloudPointList )
    • (ulong x 2, ulong, (double x 6) x length)
  • struct PanTiltAngles (Time, double x 2)
    • (ulong x 2, double x 2)
  • struct PanTiltState (Time, PanTiltAngles, double x 2)
    • (ulong x 2, ulong x 2, double x 2, double x 2) ->(ulong x 4, double x 4)
  • typedef sequence<Geometry3D> ElementGeometryList;
    • (ulong, (double x 9) x length)
  • struct RangerGeometry ( Geometry3D, ElementGeometryList )
    • (double x 9, ulong, (double x 9) x length)
  • struct RangerConfig( double x 7 )
  • typedef sequence<double> RangeList;
    • (ulong , double x 7)
  • struct RangeData ( Time, RangeList, RangerGeometry, RangerConfig)
    • (ulong x 2, ulong, double x 7, double x 9, ulong, (double x 9) x length, double x 7) -> (ulong x 3, double x 16, ulong, (double x 9) x length, double x 7)
  • typedef sequence<double> IntensityList;
    • (ulong, double x length)
  • struct IntensityData ( Time, IntensityList, RangerGeometry, RangerConfig )
    • (ulong x 2, ulong, double x length1, double x 9, ulong, (double x 9) x length2, double x 7)
  • typedef sequence<octet> RFIDTagData;
    • (ulong, char x length)