24 #ifndef _INTERFACES_LOCALIZATIONINTERFACE_H_
25 #define _INTERFACES_LOCALIZATIONINTERFACE_H_
27 #include <interface/interface.h>
28 #include <interface/message.h>
29 #include <interface/field_iterator.h>
44 int64_t timestamp_sec;
45 int64_t timestamp_usec;
47 } LocalizationInterface_data_t;
49 LocalizationInterface_data_t *data;
58 int64_t timestamp_sec;
59 int64_t timestamp_usec;
75 } SetInitialPoseMessage_data_t;
77 SetInitialPoseMessage_data_t *data;
80 SetInitialPoseMessage(
const char * ini_frame,
const double * ini_rotation,
const double * ini_translation,
const double * ini_covariance);
90 double rotation(
unsigned int index)
const;
91 void set_rotation(
unsigned int index,
const double new_rotation);
101 void set_covariance(
unsigned int index,
const double new_covariance);
115 void set_map(
const char * new_map);
120 virtual const char *
enum_tostring(
const char *enumtype,
int val)
const;
Base class for all Fawkes BlackBoard interfaces.
const char * type() const
Get type of interface.
SetInitialPoseMessage Fawkes BlackBoard Interface Message.
void set_translation(unsigned int index, const double new_translation)
Set translation value at given index.
SetInitialPoseMessage()
Constructor.
virtual Message * clone() const
Clone this message.
size_t maxlenof_translation() const
Get maximum length of translation value.
double * rotation() const
Get rotation value.
double * covariance() const
Get covariance value.
size_t maxlenof_covariance() const
Get maximum length of covariance value.
void set_rotation(unsigned int index, const double new_rotation)
Set rotation value at given index.
~SetInitialPoseMessage()
Destructor.
char * frame() const
Get frame value.
double * translation() const
Get translation value.
size_t maxlenof_frame() const
Get maximum length of frame value.
size_t maxlenof_rotation() const
Get maximum length of rotation value.
void set_frame(const char *new_frame)
Set frame value.
void set_covariance(unsigned int index, const double new_covariance)
Set covariance value at given index.
LocalizationInterface Fawkes BlackBoard Interface.
size_t maxlenof_map() const
Get maximum length of map value.
virtual const char * enum_tostring(const char *enumtype, int val) const
Convert arbitrary enum value to string.
virtual Message * create_message(const char *type) const
Create message based on type name.
void set_map(const char *new_map)
Set map value.
virtual bool message_valid(const Message *message) const
Check if message is valid and can be enqueued.
char * map() const
Get map value.
virtual void copy_values(const Interface *other)
Copy values from other interface.
Base class for all messages passed through interfaces in Fawkes BlackBoard.
Fawkes library namespace.