/build/rock-master-18.09-control-orogen-visp-0.20170420/vispTypes.hpp

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#ifndef visp_TYPES_HPP
#define visp_TYPES_HPP

#include "base/samples/RigidBodyState.hpp"
/* If you need to define types specific to your oroGen components, define them
 * here. Required headers must be included explicitly
 *
 * However, it is common that you will only import types from your library, in
 * which case you do not need this file
 */

namespace visp
{
    /* List of the three availables visual servoing architecures
     * IBVS: Image-based visual servoing
     * PBVS: Position-based visual servoing
     * HBS: Hybrid Visual Servoing (2 1/2D Visual Servoing)
     */
    enum architecture_t {IBVS, PBVS, HVS};

    struct architecture
    {
        architecture_t mode;
    };

    struct pose
    {
        float x;
        float y;
        float z;
        float roll;
        float pitch;
        float yaw;
    };

    struct adaptiveGains
    {
        float gain_at_zero;
        float gain_at_infinity;
        float slope_at_zero;
    };

    struct controllerState
    {
        double error;
        double residual;
        base::samples::RigidBodyState desired_pose;
        base::samples::RigidBodyState current_pose;
        base::Time timestamp;
    };

    struct expectedInputs
    {
        bool linear[3];
        bool angular[3];
    };

    struct saturationValues
    {
        base::Vector3d linear_max;
        base::Vector3d angular_max;
        base::Vector3d linear_min;
        base::Vector3d angular_min;
    };

    struct targetObjectParameters
    {
        std::string identifier;
        double width;
        double height;
    };

}

#endif