iCub-main
CommonCartesianController.h
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1 /*
2  * Copyright (C) 2010 RobotCub Consortium, European Commission FP6 Project IST-004370
3  * Author: Ugo Pattacini
4  * email: ugo.pattacini@iit.it
5  * website: www.robotcub.org
6  * Permission is granted to copy, distribute, and/or modify this program
7  * under the terms of the GNU General Public License, version 2 or any
8  * later version published by the Free Software Foundation.
9  *
10  * A copy of the license can be found at
11  * http://www.robotcub.org/icub/license/gpl.txt
12  *
13  * This program is distributed in the hope that it will be useful, but
14  * WITHOUT ANY WARRANTY; without even the implied warranty of
15  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
16  * Public License for more details
17 */
18 
19 #ifndef __COMMONCARTESIANCONTROLLER_H__
20 #define __COMMONCARTESIANCONTROLLER_H__
21 
22 #include <yarp/os/Vocab.h>
23 
24 #define IKINCARTCTRL_VOCAB_CMD_GET yarp::os::createVocab32('g','e','t')
25 #define IKINCARTCTRL_VOCAB_CMD_SET yarp::os::createVocab32('s','e','t')
26 #define IKINCARTCTRL_VOCAB_CMD_ASK yarp::os::createVocab32('a','s','k')
27 #define IKINCARTCTRL_VOCAB_CMD_STORE yarp::os::createVocab32('s','t','o','r')
28 #define IKINCARTCTRL_VOCAB_CMD_RESTORE yarp::os::createVocab32('r','e','s','t')
29 #define IKINCARTCTRL_VOCAB_CMD_DELETE yarp::os::createVocab32('d','e','l')
30 #define IKINCARTCTRL_VOCAB_CMD_GO yarp::os::createVocab32('g','o')
31 #define IKINCARTCTRL_VOCAB_CMD_TASKVEL yarp::os::createVocab32('t','v','e','l')
32 #define IKINCARTCTRL_VOCAB_CMD_STOP yarp::os::createVocab32('s','t','o','p')
33 #define IKINCARTCTRL_VOCAB_CMD_EVENT yarp::os::createVocab32('e','v','e','n')
34 #define IKINCARTCTRL_VOCAB_OPT_MODE yarp::os::createVocab32('m','o','d','e')
35 #define IKINCARTCTRL_VOCAB_OPT_REFERENCE yarp::os::createVocab32('r','e','f','e')
36 #define IKINCARTCTRL_VOCAB_OPT_PRIO yarp::os::createVocab32('p','r','i','o')
37 #define IKINCARTCTRL_VOCAB_OPT_TIME yarp::os::createVocab32('t','i','m','e')
38 #define IKINCARTCTRL_VOCAB_OPT_TOL yarp::os::createVocab32('t','o','l')
39 #define IKINCARTCTRL_VOCAB_OPT_DOF yarp::os::createVocab32('d','o','f')
40 #define IKINCARTCTRL_VOCAB_OPT_REST_POS yarp::os::createVocab32('r','e','s','p')
41 #define IKINCARTCTRL_VOCAB_OPT_REST_WEIGHTS yarp::os::createVocab32('r','e','s','w')
42 #define IKINCARTCTRL_VOCAB_OPT_DES yarp::os::createVocab32('d','e','s')
43 #define IKINCARTCTRL_VOCAB_OPT_LIM yarp::os::createVocab32('l','i','m')
44 #define IKINCARTCTRL_VOCAB_OPT_XD yarp::os::createVocab32('x','d')
45 #define IKINCARTCTRL_VOCAB_OPT_X yarp::os::createVocab32('x')
46 #define IKINCARTCTRL_VOCAB_OPT_Q yarp::os::createVocab32('q')
47 #define IKINCARTCTRL_VOCAB_OPT_XDOT yarp::os::createVocab32('x','d','o','t')
48 #define IKINCARTCTRL_VOCAB_OPT_QDOT yarp::os::createVocab32('q','d','o','t')
49 #define IKINCARTCTRL_VOCAB_OPT_TIP_FRAME yarp::os::createVocab32('t','i','p')
50 #define IKINCARTCTRL_VOCAB_OPT_MOTIONDONE yarp::os::createVocab32('d','o','n','e')
51 #define IKINCARTCTRL_VOCAB_OPT_ISSOLVERON yarp::os::createVocab32('i','s','o','n')
52 #define IKINCARTCTRL_VOCAB_OPT_POSE yarp::os::createVocab32('p','o','s','e')
53 #define IKINCARTCTRL_VOCAB_OPT_INFO yarp::os::createVocab32('i','n','f','o')
54 #define IKINCARTCTRL_VOCAB_OPT_TWEAK yarp::os::createVocab32('t','w','e','a')
55 #define IKINCARTCTRL_VOCAB_OPT_REGISTER yarp::os::createVocab32('r','e','g','i')
56 #define IKINCARTCTRL_VOCAB_OPT_UNREGISTER yarp::os::createVocab32('u','n','r','e')
57 #define IKINCARTCTRL_VOCAB_OPT_LIST yarp::os::createVocab32('l','i','s','t')
58 #define IKINCARTCTRL_VOCAB_VAL_POSE_FULL yarp::os::createVocab32('f','u','l','l')
59 #define IKINCARTCTRL_VOCAB_VAL_POSE_XYZ yarp::os::createVocab32('x','y','z')
60 #define IKINCARTCTRL_VOCAB_VAL_MODE_TRACK yarp::os::createVocab32('c','o','n','t')
61 #define IKINCARTCTRL_VOCAB_VAL_MODE_SINGLE yarp::os::createVocab32('s','h','o','t')
62 #define IKINCARTCTRL_VOCAB_VAL_TRUE yarp::os::createVocab32('t','r','u','e')
63 #define IKINCARTCTRL_VOCAB_VAL_FALSE yarp::os::createVocab32('f','a','l','s')
64 #define IKINCARTCTRL_VOCAB_VAL_EVENT_ONGOING yarp::os::createVocab32('o','g','o','i')
65 #define IKINCARTCTRL_VOCAB_REP_ACK yarp::os::createVocab32('a','c','k')
66 #define IKINCARTCTRL_VOCAB_REP_NACK yarp::os::createVocab32('n','a','c','k')
67 
68 #endif
69