not_exporting.tlb - RDoc Documentation

<?xml version=“1.0”?> <typelib>

<opaque name="/RTT/extras/ReadOnlyPointer&lt;/base/samples/frame/Frame&gt;" size="0" marshal_as="/base/samples/frame/Frame" includes="rtt/extras/ReadOnlyPointer.hpp" needs_copy="0">
<metadata key="orogen_defining_typekits"><![CDATA[base]]></metadata>

</opaque>
<opaque name="/RTT/extras/ReadOnlyPointer&lt;/base/samples/frame/FramePair&gt;" size="0" marshal_as="/base/samples/frame/FramePair" includes="rtt/extras/ReadOnlyPointer.hpp" needs_copy="0">
<metadata key="orogen_defining_typekits"><![CDATA[base]]></metadata>

</opaque>
<opaque name="/base/Matrix2d" size="0" marshal_as="/wrappers/Matrix2d" includes="" needs_copy="1">
<metadata key="opaque_is_typedef"><![CDATA[1]]></metadata>

</opaque>
<opaque name="/base/Matrix3d" size="0" marshal_as="/wrappers/Matrix3d" includes="" needs_copy="1">
<metadata key="opaque_is_typedef"><![CDATA[1]]></metadata>

</opaque>
<opaque name="/base/Matrix4d" size="0" marshal_as="/wrappers/Matrix4d" includes="" needs_copy="1">
<metadata key="opaque_is_typedef"><![CDATA[1]]></metadata>

</opaque>
<opaque name="/base/Matrix6d" size="0" marshal_as="/wrappers/Matrix6d" includes="" needs_copy="1">
<metadata key="opaque_is_typedef"><![CDATA[1]]></metadata>

</opaque>
<opaque name="/base/MatrixXd" size="0" marshal_as="/wrappers/MatrixXd" includes="" needs_copy="1">
<metadata key="opaque_is_typedef"><![CDATA[1]]></metadata>

</opaque>
<opaque name="/base/Quaterniond" size="0" marshal_as="/wrappers/Quaterniond" includes="" needs_copy="1">
<metadata key="opaque_is_typedef"><![CDATA[1]]></metadata>

</opaque>
<alias name="/base/Orientation" source="/base/Quaterniond"/>
<opaque name="/base/Vector2d" size="0" marshal_as="/wrappers/Vector2d" includes="" needs_copy="1">
<metadata key="doc"><![CDATA[We define these typedefs to workaround alignment requirements for normal

Eigen types. This reduces the amount of knowledge people have to have to manipulate these types – as well as the structures that use them – and make them usable in Orocos dataflow.

Eigen supports converting them to “standard” eigen types in a straightforward way. Moreover, vectorization does not help for small sizes]]></metadata> <metadata key=“opaque_is_typedef”>]></metadata> <metadata key=“orogen_defining_typekits”>]></metadata> <metadata key=“orogen_exporting_typekits”>]></metadata> <metadata key=“orogen_include”>]></metadata> <metadata key=“source_file_line”>]></metadata>

</opaque>
<opaque name="/base/Vector3d" size="0" marshal_as="/wrappers/Vector3d" includes="" needs_copy="1">
<metadata key="opaque_is_typedef"><![CDATA[1]]></metadata>

</opaque>
<opaque name="/base/Vector4d" size="0" marshal_as="/wrappers/Vector4d" includes="" needs_copy="1">
<metadata key="opaque_is_typedef"><![CDATA[1]]></metadata>

</opaque>
<opaque name="/base/Vector6d" size="0" marshal_as="/wrappers/Vector6d" includes="" needs_copy="1">
<metadata key="opaque_is_typedef"><![CDATA[1]]></metadata>

</opaque>
<opaque name="/base/VectorXd" size="0" marshal_as="/wrappers/VectorXd" includes="" needs_copy="1">
<metadata key="opaque_is_typedef"><![CDATA[1]]></metadata>

</opaque>
<alias name="/base/Point" source="/base/Vector3d"/>
<compound name="/base/Pose" size="56">
  <field name="position" type="/base/Vector3d" offset="0">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/install/include/base/Pose.hpp:104]]></metadata>

  </field>
  <field name="orientation" type="/base/Quaterniond" offset="24">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/install/include/base/Pose.hpp:105]]></metadata>

  </field>
<metadata key="orogen_defining_typekits"><![CDATA[base]]></metadata>

</compound>
<alias name="/base/Position" source="/base/Vector3d"/>
<alias name="/base/Position2D" source="/base/Vector2d"/>
<alias name="/Eigen/Matrix&lt;/double,00000000000000000001,00000000000000000001,2,00000000000000000001,00000000000000000001&gt;" source="/base/MatrixXd"/>
<alias name="/Eigen/Matrix&lt;/double,00000000000000000001,1,2,00000000000000000001,1&gt;" source="/base/VectorXd"/>
<alias name="/Eigen/Matrix&lt;/double,2,1,2,2,1&gt;" source="/base/Vector2d"/>
<alias name="/Eigen/Matrix&lt;/double,2,2,2,2,2&gt;" source="/base/Matrix2d"/>
<alias name="/Eigen/Matrix&lt;/double,3,1,2,3,1&gt;" source="/base/Vector3d"/>
<alias name="/Eigen/Matrix&lt;/double,3,3,2,3,3&gt;" source="/base/Matrix3d"/>
<alias name="/Eigen/Matrix&lt;/double,4,1,2,4,1&gt;" source="/base/Vector4d"/>
<alias name="/Eigen/Matrix&lt;/double,4,4,2,4,4&gt;" source="/base/Matrix4d"/>
<alias name="/Eigen/Matrix&lt;/double,6,1,2,6,1&gt;" source="/base/Vector6d"/>
<alias name="/Eigen/Matrix&lt;/double,6,6,2,6,6&gt;" source="/base/Matrix6d"/>
<alias name="/Eigen/Quaternion&lt;/double,2&gt;" source="/base/Quaterniond"/>
<enum name="/base/Time/Resolution">
  <value symbol="Microseconds" value="1000000"/>
  <value symbol="Milliseconds" value="1000"/>
  <value symbol="Seconds" value="1"/>
<metadata key="orogen_defining_typekits"><![CDATA[base]]></metadata>

</enum>
<enum name="/base/actuators/ADAPTATIVE_MODE">
  <value symbol="PID_POSITION" value="64"/>
  <value symbol="PID_SPEED" value="128"/>
<metadata key="doc"><![CDATA[\deprecated ]]></metadata>

</enum>
<enum name="/base/actuators/DRIVE_MODE">
  <value symbol="DM_POSITION" value="2"/>
  <value symbol="DM_PWM" value="0"/>
  <value symbol="DM_SPEED" value="1"/>
  <value symbol="DM_UNINITIALIZED" value="3"/>
<metadata key="doc"><![CDATA[\deprecated See the documentation of Command

The control mode requested for a controller output]]></metadata> <metadata key=“orogen_defining_typekits”>]></metadata> <metadata key=“orogen_exporting_typekits”>]></metadata> <metadata key=“orogen_include”>]></metadata> <metadata key=“source_file_line”>]></metadata>

</enum>
<enum name="/base/actuators/WHEEL4_ACTUATORS">
  <value symbol="WHEEL4_FRONT_LEFT" value="3"/>
  <value symbol="WHEEL4_FRONT_RIGHT" value="2"/>
  <value symbol="WHEEL4_REAR_LEFT" value="0"/>
  <value symbol="WHEEL4_REAR_RIGHT" value="1"/>
<metadata key="doc"><![CDATA[Standard joint order for all 4-wheeled systems ]]></metadata>

</enum>
<opaque name="/base/geometry/Spline&lt;1&gt;" size="0" marshal_as="/wrappers/geometry/Spline" includes="" needs_copy="1">
<metadata key="orogen_defining_typekits"><![CDATA[base]]></metadata>

</opaque>
<opaque name="/base/geometry/Spline&lt;3&gt;" size="0" marshal_as="/wrappers/geometry/Spline" includes="" needs_copy="1">
<metadata key="orogen_defining_typekits"><![CDATA[base]]></metadata>

</opaque>
<alias name="/base/geometry/Spline1" source="/base/geometry/Spline&lt;1&gt;"/>
<alias name="/base/geometry/Spline3" source="/base/geometry/Spline&lt;3&gt;"/>
<alias name="/base/geometry/Spline&lt;3&gt;/vector_t" source="/base/Vector3d"/>
<enum name="/base/geometry/SplineBase/CoordinateType">
  <value symbol="DERIVATIVE_TO_NEXT" value="3"/>
  <value symbol="DERIVATIVE_TO_PRIOR" value="4"/>
  <value symbol="KNUCKLE_POINT" value="2"/>
  <value symbol="ORDINARY_POINT" value="1"/>
  <value symbol="SECOND_DERIVATIVE_TO_NEXT" value="5"/>
  <value symbol="SECOND_DERIVATIVE_TO_PRIOR" value="6"/>
  <value symbol="TANGENT_POINT_FOR_NEXT" value="13"/>
  <value symbol="TANGENT_POINT_FOR_PRIOR" value="14"/>
<metadata key="doc"><![CDATA[types to be used in the interpolate() method]]></metadata>

</enum>
<enum name="/base/samples/LASER_RANGE_ERRORS">
  <value symbol="MAX_RANGE_ERROR" value="5"/>
  <value symbol="MEASUREMENT_ERROR" value="3"/>
  <value symbol="OTHER_RANGE_ERRORS" value="4"/>
  <value symbol="TOO_FAR" value="1"/>
  <value symbol="TOO_NEAR" value="2"/>
<metadata key="doc"><![CDATA[Special values for the ranges. If a range has one of these values, then

it is not valid and the value declares what is going on ]]></metadata> <metadata key=“orogen_defining_typekits”>]></metadata> <metadata key=“orogen_exporting_typekits”>]></metadata> <metadata key=“orogen_include”>]></metadata> <metadata key=“source_file_line”>]></metadata>

</enum>
<enum name="/base/samples/frame/frame_mode_t">
  <value symbol="COMPRESSED_MODES" value="256"/>
  <value symbol="MODE_BAYER" value="128"/>
  <value symbol="MODE_BAYER_BGGR" value="131"/>
  <value symbol="MODE_BAYER_GBRG" value="132"/>
  <value symbol="MODE_BAYER_GRBG" value="130"/>
  <value symbol="MODE_BAYER_RGGB" value="129"/>
  <value symbol="MODE_BGR" value="4"/>
  <value symbol="MODE_GRAYSCALE" value="1"/>
  <value symbol="MODE_JPEG" value="258"/>
  <value symbol="MODE_PJPG" value="257"/>
  <value symbol="MODE_RGB" value="2"/>
  <value symbol="MODE_RGB32" value="5"/>
  <value symbol="MODE_UNDEFINED" value="0"/>
  <value symbol="MODE_UYVY" value="3"/>
  <value symbol="RAW_MODES" value="128"/>
<metadata key="orogen_defining_typekits"><![CDATA[base]]></metadata>

</enum>
<enum name="/base/samples/frame/frame_status_t">
  <value symbol="STATUS_EMPTY" value="0"/>
  <value symbol="STATUS_INVALID" value="2"/>
  <value symbol="STATUS_VALID" value="1"/>
<metadata key="orogen_defining_typekits"><![CDATA[base]]></metadata>

</enum>
<numeric name="/bool" category="uint" size="1">  
</numeric>
<numeric name="/double" category="float" size="8">  
</numeric>
<numeric name="/float" category="float" size="4">  
</numeric>
<numeric name="/int32_t" category="sint" size="4">  
</numeric>
<numeric name="/int64_t" category="sint" size="8">  
</numeric>
<numeric name="/int8_t" category="sint" size="1">  
</numeric>
<alias name="/char" source="/int8_t"/>
<alias name="/int" source="/int32_t"/>
<alias name="/int long long" source="/int64_t"/>
<alias name="/int signed" source="/int32_t"/>
<alias name="/int signed long" source="/int64_t"/>
<alias name="/int signed long long" source="/int64_t"/>
<alias name="/long" source="/int64_t"/>
<alias name="/long int" source="/int64_t"/>
<alias name="/long int long" source="/int64_t"/>
<alias name="/long long" source="/int64_t"/>
<alias name="/long long int" source="/int64_t"/>
<alias name="/long long int signed" source="/int64_t"/>
<alias name="/long long signed" source="/int64_t"/>
<alias name="/long long signed int" source="/int64_t"/>
<alias name="/long signed" source="/int64_t"/>
<alias name="/long signed int" source="/int64_t"/>
<alias name="/long signed long" source="/int64_t"/>
<alias name="/long signed long int" source="/int64_t"/>
<alias name="/signed" source="/int32_t"/>
<alias name="/signed char" source="/int8_t"/>
<alias name="/signed int" source="/int32_t"/>
<alias name="/signed int long" source="/int64_t"/>
<alias name="/signed int long long" source="/int64_t"/>
<alias name="/signed long" source="/int64_t"/>
<alias name="/signed long int" source="/int64_t"/>
<alias name="/signed long int long" source="/int64_t"/>
<alias name="/signed long long" source="/int64_t"/>
<alias name="/signed long long int" source="/int64_t"/>
<numeric name="/uint16_t" category="uint" size="2">  
</numeric>
<numeric name="/uint32_t" category="uint" size="4">  
</numeric>
<numeric name="/uint64_t" category="uint" size="8">  
</numeric>
<numeric name="/uint8_t" category="uint" size="1">  
</numeric>
<alias name="/int long unsigned" source="/uint64_t"/>
<alias name="/int short unsigned" source="/uint16_t"/>
<alias name="/int unsigned" source="/uint32_t"/>
<alias name="/int unsigned long long" source="/uint64_t"/>
<alias name="/long int unsigned" source="/uint64_t"/>
<alias name="/long long int unsigned" source="/uint64_t"/>
<alias name="/long long unsigned" source="/uint64_t"/>
<alias name="/long long unsigned int" source="/uint64_t"/>
<alias name="/long unsigned" source="/uint64_t"/>
<alias name="/long unsigned int" source="/uint64_t"/>
<alias name="/long unsigned long" source="/uint64_t"/>
<alias name="/long unsigned long int" source="/uint64_t"/>
<alias name="/short int unsigned" source="/uint16_t"/>
<alias name="/short unsigned" source="/uint16_t"/>
<alias name="/short unsigned int" source="/uint16_t"/>
<alias name="/unsigned" source="/uint32_t"/>
<alias name="/unsigned char" source="/uint8_t"/>
<alias name="/unsigned int" source="/uint32_t"/>
<alias name="/unsigned int long long" source="/uint64_t"/>
<alias name="/unsigned long" source="/uint64_t"/>
<alias name="/unsigned long int" source="/uint64_t"/>
<alias name="/unsigned long int long" source="/uint64_t"/>
<alias name="/unsigned long long" source="/uint64_t"/>
<alias name="/unsigned long long int" source="/uint64_t"/>
<alias name="/unsigned short" source="/uint16_t"/>
<alias name="/unsigned short int" source="/uint16_t"/>
<compound name="/base/Angle" size="8">
  <field name="rad" type="/double" offset="0">
  <metadata key="doc"><![CDATA[angle in radians.

this value will always be PI < rad <= PI

@note don't use this value directly. It's only public to allow this class to be used as an interface type.]]></metadata> <metadata key=“source_file_line”>]></metadata>

  </field>
<metadata key="orogen_defining_typekits"><![CDATA[base]]></metadata>

</compound>
<compound name="/base/JointState" size="24">
  <field name="position" type="/double" offset="0">
  <metadata key="doc"><![CDATA[Current position of the actuator, in radians for angular

joints, in m for linear ones

For angular joints that can move more than 360 degrees, this accumulates the movement since initialization

If the joint is an angular joint whose motion is constrained to less than one full turn, the value should be in [-PI, PI]. base::Angle could be used to manipulate it before setting it in this structure

If the joint is an unconstrained angular joint (e.g. a wheel joint), the range is [-inf, inf]]]></metadata> <metadata key=“source_file_line”>]></metadata>

</field>
<field name="speed" type="/float" offset="8">
<metadata key="doc"><![CDATA[Speed in radians per second for angular actuators, in m/s

for linear ones

This is an instantaneous speed. It means that, considering two consecutive JointState samples,

(position1 - position0)/(time1 - * time0).toSeconds()

is not necessarily equal to 'speed']]></metadata> <metadata key=“source_file_line”>]></metadata>

</field>
<field name="effort" type="/float" offset="12">
<metadata key="doc"><![CDATA[Torque in N.m for angular joints and N for linear ones]]></metadata>

</field>
<field name="raw" type="/float" offset="16">
<metadata key="doc"><![CDATA[Raw command to/from the actuator, if this is an actuated joint. It

is commonly a PWM value in [0,1]]]></metadata> <metadata key=“source_file_line”>]></metadata>

  </field>
<metadata key="orogen_defining_typekits"><![CDATA[base]]></metadata>

</compound>
<alias name="/base/Orientation2D" source="/double"/>
<compound name="/base/Pose2D" size="24">
  <field name="position" type="/base/Vector2d" offset="0">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/install/include/base/Pose.hpp:205]]></metadata>

  </field>
  <field name="orientation" type="/double" offset="16">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/install/include/base/Pose.hpp:206]]></metadata>

  </field>
<metadata key="orogen_defining_typekits"><![CDATA[base]]></metadata>

</compound>
<compound name="/base/PoseUpdateThreshold" size="16">
  <field name="distance" type="/double" offset="0">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/install/include/base/Pose.hpp:91]]></metadata>

  </field>
  <field name="angle" type="/double" offset="8">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/install/include/base/Pose.hpp:92]]></metadata>

  </field>
<metadata key="orogen_defining_typekits"><![CDATA[base]]></metadata>

</compound>
<compound name="/base/Temperature" size="8">
  <field name="kelvin" type="/double" offset="0">
  <metadata key="doc"><![CDATA[temperature in kelvins

@note don't use this value directly. It's only public to allow this class to be used as an interface type.]]></metadata> <metadata key=“source_file_line”>]></metadata>

  </field>
<metadata key="orogen_defining_typekits"><![CDATA[base]]></metadata>

</compound>
<compound name="/base/Time" size="8">
  <field name="microseconds" type="/int64_t" offset="0">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/install/include/base/Time.hpp:23]]></metadata>

  </field>
<metadata key="orogen_defining_typekits"><![CDATA[base]]></metadata>

</compound>
<compound name="/base/Trajectory" size="96">
  <field name="speed" type="/double" offset="0">
  <metadata key="doc"><![CDATA[The speed in which the trajectory should be

traversed. ]]></metadata> <metadata key=“source_file_line”>]></metadata>

</field>
<field name="spline" type="/base/geometry/Spline&lt;3&gt;" offset="8">
<metadata key="doc"><![CDATA[A spline representing the trajectory that should

be driven. ]]></metadata> <metadata key=“source_file_line”>]></metadata>

  </field>
<metadata key="orogen_defining_typekits"><![CDATA[base]]></metadata>

</compound>
<compound name="/base/Waypoint" size="48">
  <field name="position" type="/base/Vector3d" offset="0">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/install/include/base/Waypoint.hpp:14]]></metadata>

  </field>
  <field name="heading" type="/double" offset="24">
  <metadata key="doc"><![CDATA[heading in radians]]></metadata>

</field>
<field name="tol_position" type="/double" offset="32">
<metadata key="doc"><![CDATA[tollerance of the position in m]]></metadata>

</field>
<field name="tol_heading" type="/double" offset="40">
<metadata key="doc"><![CDATA[tollerance of the heading in rad]]></metadata>

  </field>
<metadata key="orogen_defining_typekits"><![CDATA[base]]></metadata>

</compound>
<compound name="/base/JointLimitRange" size="48">
  <field name="min" type="/base/JointState" offset="0">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/install/include/base/JointLimitRange.hpp:12]]></metadata>

  </field>
  <field name="max" type="/base/JointState" offset="24">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/install/include/base/JointLimitRange.hpp:13]]></metadata>

  </field>
<metadata key="orogen_defining_typekits"><![CDATA[base]]></metadata>

</compound>
<compound name="/base/TimeStamped&lt;/base/commands/Motion2D&gt;" size="24">
  <field name="translation" type="/double" offset="0">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/install/include/base/commands/Motion2D.hpp:14]]></metadata>

  </field>
  <field name="rotation" type="/double" offset="8">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/install/include/base/commands/Motion2D.hpp:15]]></metadata>

  </field>
  <field name="time" type="/base/Time" offset="16">
  <metadata key="doc"><![CDATA[the actual timestamp]]></metadata>

  </field>
<metadata key="base_classes"><![CDATA[/base/commands/Motion2D]]></metadata>

</compound>
<compound name="/base/actuators/MotorState" size="32">
  <field name="current" type="/int32_t" offset="0">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/install/include/base/backward/base/actuators/status.h:30]]></metadata>

  </field>
  <field name="position" type="/double" offset="8">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/install/include/base/backward/base/actuators/status.h:31]]></metadata>

  </field>
  <field name="positionExtern" type="/double" offset="16">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/install/include/base/backward/base/actuators/status.h:32]]></metadata>

  </field>
  <field name="pwm" type="/float" offset="24">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/install/include/base/backward/base/actuators/status.h:33]]></metadata>

  </field>
<metadata key="doc"><![CDATA[\deprecated use base::samples::Joints instead

Represents the state of a single actuator

current is the current reading

position is the position of the actuated part (i.e. motor + gear), in radians. Wether this position is absolute or relative depends on the type of encoder on the particular actuator it represents.

positionExtern is used in cases where an elastic coupling exists between the motor and the actuated part (for instance, the wheel). In this case, c position is before the elasticity and c positionExtern after

pwm is the current duty-cycle

error is a bitfield representing the actuator state.]]></metadata> <metadata key=“orogen_defining_typekits”>]></metadata> <metadata key=“orogen_exporting_typekits”>]></metadata> <metadata key=“orogen_include”>]></metadata> <metadata key=“source_file_line”>]></metadata>

</compound>
<compound name="/base/actuators/PIDValues" size="16">
  <field name="kp" type="/float" offset="0">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/install/include/base/backward/base/actuators/commands.h:18]]></metadata>

  </field>
  <field name="ki" type="/float" offset="4">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/install/include/base/backward/base/actuators/commands.h:19]]></metadata>

  </field>
  <field name="kd" type="/float" offset="8">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/install/include/base/backward/base/actuators/commands.h:20]]></metadata>

  </field>
  <field name="maxPWM" type="/float" offset="12">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/install/include/base/backward/base/actuators/commands.h:21]]></metadata>

  </field>
<metadata key="doc"><![CDATA[\deprecated in Rock, use the PIDSettings class from the control/motor_controller package

Structure holding PID values

The actual meaning of those values will obviously depend on the actuator and control electronics.]]></metadata> <metadata key=“orogen_defining_typekits”>]></metadata> <metadata key=“orogen_exporting_typekits”>]></metadata> <metadata key=“orogen_include”>]></metadata> <metadata key=“source_file_line”>]></metadata>

</compound>
<compound name="/base/actuators/AdaptativeCommand" size="48">
  <field name="target" type="/double" offset="0">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/install/include/base/backward/base/actuators/commands.h:78]]></metadata>

  </field>
  <field name="mode" type="/int32_t" offset="8">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/install/include/base/backward/base/actuators/commands.h:80]]></metadata>

  </field>
  <field name="pid_position" type="/base/actuators/PIDValues" offset="12">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/install/include/base/backward/base/actuators/commands.h:81]]></metadata>

  </field>
  <field name="pid_speed" type="/base/actuators/PIDValues" offset="28">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/install/include/base/backward/base/actuators/commands.h:82]]></metadata>

  </field>
<metadata key="doc"><![CDATA[\deprecated ]]></metadata>

</compound>
<compound name="/base/commands/AUVMotion" size="32">
  <field name="heading" type="/double" offset="0">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/install/include/base/commands/AUVMotion.hpp:12]]></metadata>

  </field>
  <field name="z" type="/double" offset="8">
  <metadata key="doc"><![CDATA[! counter-clockwise, has to be in -PI/PI)]]></metadata>

  </field>
  <field name="x_speed" type="/double" offset="16">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/install/include/base/commands/AUVMotion.hpp:15]]></metadata>

  </field>
  <field name="y_speed" type="/double" offset="24">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/install/include/base/commands/AUVMotion.hpp:16]]></metadata>

  </field>
<metadata key="orogen_defining_typekits"><![CDATA[base]]></metadata>

</compound>
<compound name="/base/commands/AUVPosition" size="32">
  <field name="heading" type="/double" offset="0">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/install/include/base/commands/AUVPosition.hpp:12]]></metadata>

  </field>
  <field name="z" type="/double" offset="8">
  <metadata key="doc"><![CDATA[! counter-clockwise, has to be in -PI/PI)]]></metadata>

  </field>
  <field name="x" type="/double" offset="16">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/install/include/base/commands/AUVPosition.hpp:15]]></metadata>

  </field>
  <field name="y" type="/double" offset="24">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/install/include/base/commands/AUVPosition.hpp:16]]></metadata>

  </field>
<metadata key="orogen_defining_typekits"><![CDATA[base]]></metadata>

</compound>
<compound name="/base/commands/Motion2D" size="16">
  <field name="translation" type="/double" offset="0">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/install/include/base/commands/Motion2D.hpp:14]]></metadata>

  </field>
  <field name="rotation" type="/double" offset="8">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/install/include/base/commands/Motion2D.hpp:15]]></metadata>

  </field>
<metadata key="orogen_defining_typekits"><![CDATA[base]]></metadata>

</compound>
<compound name="/base/commands/Speed6D" size="48">
  <field name="surge" type="/double" offset="0">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/install/include/base/commands/Speed6D.hpp:13]]></metadata>

  </field>
  <field name="sway" type="/double" offset="8">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/install/include/base/commands/Speed6D.hpp:14]]></metadata>

  </field>
  <field name="heave" type="/double" offset="16">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/install/include/base/commands/Speed6D.hpp:15]]></metadata>

  </field>
  <field name="roll" type="/double" offset="24">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/install/include/base/commands/Speed6D.hpp:17]]></metadata>

  </field>
  <field name="pitch" type="/double" offset="32">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/install/include/base/commands/Speed6D.hpp:18]]></metadata>

  </field>
  <field name="yaw" type="/double" offset="40">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/install/include/base/commands/Speed6D.hpp:19]]></metadata>

  </field>
<metadata key="orogen_defining_typekits"><![CDATA[base]]></metadata>

</compound>
<alias name="/base/AUVMotionCommand" source="/base/commands/AUVMotion"/>
<alias name="/base/AUVPositionCommand" source="/base/commands/AUVPosition"/>
<alias name="/base/MotionCommand2D" source="/base/commands/Motion2D"/>
<alias name="/base/SpeedCommand6D" source="/base/commands/Speed6D"/>
<alias name="/base/samples/DistanceImage/scalar" source="/float"/>
<compound name="/base/samples/IMUSensors" size="80">
  <field name="time" type="/base/Time" offset="0">
  <metadata key="doc"><![CDATA[Timestamp of the orientation reading ]]></metadata>

</field>
<field name="acc" type="/base/Vector3d" offset="8">
<metadata key="doc"><![CDATA[raw accelerometer readings ]]></metadata>

</field>
<field name="gyro" type="/base/Vector3d" offset="32">
<metadata key="doc"><![CDATA[raw gyro reading]]></metadata>

</field>
<field name="mag" type="/base/Vector3d" offset="56">
<metadata key="doc"><![CDATA[raw magnetometer reading]]></metadata>

  </field>
<metadata key="orogen_defining_typekits"><![CDATA[base]]></metadata>

</compound>
<compound name="/base/samples/Motion2D" size="24">
  <field name="translation" type="/double" offset="0">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/install/include/base/commands/Motion2D.hpp:14]]></metadata>

  </field>
  <field name="rotation" type="/double" offset="8">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/install/include/base/commands/Motion2D.hpp:15]]></metadata>

  </field>
  <field name="time" type="/base/Time" offset="16">
  <metadata key="doc"><![CDATA[the actual timestamp]]></metadata>

  </field>
<metadata key="base_classes"><![CDATA[/base/TimeStamped</base/commands/Motion2D>]]></metadata>

</compound>
<compound name="/base/samples/RigidBodyAcceleration" size="104">
  <field name="time" type="/base/Time" offset="0">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/install/include/base/samples/RigidBodyAcceleration.hpp:10]]></metadata>

  </field>
  <field name="acceleration" type="/base/Vector3d" offset="8">
  <metadata key="doc"><![CDATA[Acceleration in m/s, world fixed frame of reference (East-North-Up) ]]></metadata>

</field>
<field name="cov_acceleration" type="/base/Matrix3d" offset="32">
<metadata key="doc"><![CDATA[Covariance matrix of the acceleration]]></metadata>

  </field>
<metadata key="orogen_defining_typekits"><![CDATA[base]]></metadata>

</compound>
<alias name="/base/samples/LaserScan/uint32_t" source="/uint32_t"/>
<alias name="/base/samples/SonarBeam/uint8_t" source="/uint8_t"/>
<compound name="/base/samples/frame/frame_size_t" size="4">
  <field name="width" type="/uint16_t" offset="0">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/install/include/base/samples/Frame.hpp:48]]></metadata>

  </field>
  <field name="height" type="/uint16_t" offset="2">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/install/include/base/samples/Frame.hpp:49]]></metadata>

  </field>
<metadata key="orogen_defining_typekits"><![CDATA[base]]></metadata>

</compound>
<container name="/std/string" of="/int8_t" size="8" kind="/std/string">
<metadata key="orogen_defining_typekits"><![CDATA[base]]></metadata>

</container>
<container name="/std/vector&lt;/base/JointLimitRange&gt;" of="/base/JointLimitRange" size="24" kind="/std/vector">
<metadata key="orogen_defining_typekits"><![CDATA[base]]></metadata>

</container>
<container name="/std/vector&lt;/base/JointState&gt;" of="/base/JointState" size="24" kind="/std/vector">
<metadata key="orogen_defining_typekits"><![CDATA[base]]></metadata>

</container>
<container name="/std/vector&lt;/base/Time&gt;" of="/base/Time" size="24" kind="/std/vector">
<metadata key="orogen_defining_typekits"><![CDATA[base]]></metadata>

</container>
<container name="/std/vector&lt;/base/Trajectory&gt;" of="/base/Trajectory" size="24" kind="/std/vector">
<metadata key="orogen_defining_typekits"><![CDATA[base]]></metadata>

</container>
<container name="/std/vector&lt;/base/Vector3d&gt;" of="/base/Vector3d" size="24" kind="/std/vector">
<metadata key="orogen_defining_typekits"><![CDATA[base]]></metadata>

</container>
<container name="/std/vector&lt;/base/Vector4d&gt;" of="/base/Vector4d" size="24" kind="/std/vector">
<metadata key="orogen_defining_typekits"><![CDATA[base]]></metadata>

</container>
<container name="/std/vector&lt;/base/Waypoint&gt;" of="/base/Waypoint" size="24" kind="/std/vector">
<metadata key="orogen_defining_typekits"><![CDATA[base]]></metadata>

</container>
<container name="/std/vector&lt;/base/actuators/AdaptativeCommand&gt;" of="/base/actuators/AdaptativeCommand" size="24" kind="/std/vector">
<metadata key="orogen_defining_typekits"><![CDATA[base]]></metadata>

</container>
<container name="/std/vector&lt;/base/actuators/DRIVE_MODE&gt;" of="/base/actuators/DRIVE_MODE" size="24" kind="/std/vector">
<metadata key="orogen_defining_typekits"><![CDATA[base]]></metadata>

</container>
<container name="/std/vector&lt;/base/actuators/MotorState&gt;" of="/base/actuators/MotorState" size="24" kind="/std/vector">
<metadata key="orogen_defining_typekits"><![CDATA[base]]></metadata>

</container>
<container name="/std/vector&lt;/double&gt;" of="/double" size="24" kind="/std/vector">
<metadata key="orogen_defining_typekits"><![CDATA[base]]></metadata>

</container>
<container name="/std/vector&lt;/float&gt;" of="/float" size="24" kind="/std/vector">
<metadata key="orogen_defining_typekits"><![CDATA[base]]></metadata>

</container>
<container name="/std/vector&lt;/uint32_t&gt;" of="/uint32_t" size="24" kind="/std/vector">
<metadata key="orogen_defining_typekits"><![CDATA[base]]></metadata>

</container>
<container name="/std/vector&lt;/uint8_t&gt;" of="/uint8_t" size="24" kind="/std/vector">
<metadata key="orogen_defining_typekits"><![CDATA[base]]></metadata>

</container>
<container name="/std/vector&lt;/std/string&gt;" of="/std/string" size="24" kind="/std/vector">
<metadata key="orogen_defining_typekits"><![CDATA[base]]></metadata>

</container>
<container name="/std/vector&lt;/std/vector&lt;/base/JointState&gt;&gt;" of="/std/vector&lt;/base/JointState&gt;" size="24" kind="/std/vector">
<metadata key="orogen_defining_typekits"><![CDATA[base]]></metadata>

</container>
<alias name="/std/vector&lt;/unsigned char&gt;" source="/std/vector&lt;/uint8_t&gt;"/>
<alias name="/std/vector&lt;/unsigned int&gt;" source="/std/vector&lt;/uint32_t&gt;"/>
<alias name="/std/vector&lt;/unsigned&gt;" source="/std/vector&lt;/uint32_t&gt;"/>
<compound name="/base/JointLimits" size="48">
  <field name="names" type="/std/vector&lt;/std/string&gt;" offset="0">
  <metadata key="doc"><![CDATA[The names of the elements described in this structure, in the same

order than the 'elements' field below]]></metadata> <metadata key=“source_file_line”>]></metadata>

</field>
<field name="elements" type="/std/vector&lt;/base/JointLimitRange&gt;" offset="24">
<metadata key="doc"><![CDATA[The element vector ]]></metadata>

  </field>
<metadata key="base_classes"><![CDATA[/base/NamedVector</base/JointLimitRange>]]></metadata>

</compound>
<alias name="/base/JointTrajectory" source="/std/vector&lt;/base/JointState&gt;"/>
<compound name="/base/JointTransform" size="40">
  <field name="sourceFrame" type="/std/string" offset="0">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/install/include/base/JointTransform.hpp:19]]></metadata>

  </field>
  <field name="targetFrame" type="/std/string" offset="8">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/install/include/base/JointTransform.hpp:20]]></metadata>

  </field>
  <field name="rotationAxis" type="/base/Vector3d" offset="16">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/install/include/base/JointTransform.hpp:21]]></metadata>

  </field>
<metadata key="orogen_defining_typekits"><![CDATA[base]]></metadata>

</compound>
<compound name="/base/JointsTrajectory" size="72">
  <field name="names" type="/std/vector&lt;/std/string&gt;" offset="0">
  <metadata key="doc"><![CDATA[The names of the elements described in this structure, in the same

order than the 'elements' field below]]></metadata> <metadata key=“source_file_line”>]></metadata>

</field>
<field name="elements" type="/std/vector&lt;/std/vector&lt;/base/JointState&gt;&gt;" offset="24">
<metadata key="doc"><![CDATA[The element vector ]]></metadata>

</field>
<field name="times" type="/std/vector&lt;/base/Time&gt;" offset="48">
<metadata key="doc"><![CDATA[@brief optional array of time values corresponding to the samples of the JointState

This vector needs to be either empty or the same size as each of the std::vector<JointState> in the elements vector.]]></metadata> <metadata key=“source_file_line”>]></metadata>

  </field>
<metadata key="base_classes"><![CDATA[/base/NamedVector</std/vector</base/JointState>>]]></metadata>

</compound>
<compound name="/base/NamedVector&lt;/base/JointLimitRange&gt;" size="48">
  <field name="names" type="/std/vector&lt;/std/string&gt;" offset="0">
  <metadata key="doc"><![CDATA[The names of the elements described in this structure, in the same

order than the 'elements' field below]]></metadata> <metadata key=“source_file_line”>]></metadata>

</field>
<field name="elements" type="/std/vector&lt;/base/JointLimitRange&gt;" offset="24">
<metadata key="doc"><![CDATA[The element vector ]]></metadata>

  </field>
<metadata key="orogen_defining_typekits"><![CDATA[base]]></metadata>

</compound>
<compound name="/base/NamedVector&lt;/base/JointState&gt;" size="48">
  <field name="names" type="/std/vector&lt;/std/string&gt;" offset="0">
  <metadata key="doc"><![CDATA[The names of the elements described in this structure, in the same

order than the 'elements' field below]]></metadata> <metadata key=“source_file_line”>]></metadata>

</field>
<field name="elements" type="/std/vector&lt;/base/JointState&gt;" offset="24">
<metadata key="doc"><![CDATA[The element vector ]]></metadata>

  </field>
<metadata key="orogen_defining_typekits"><![CDATA[base]]></metadata>

</compound>
<compound name="/base/NamedVector&lt;/std/vector&lt;/base/JointState&gt;&gt;" size="48">
  <field name="names" type="/std/vector&lt;/std/string&gt;" offset="0">
  <metadata key="doc"><![CDATA[The names of the elements described in this structure, in the same

order than the 'elements' field below]]></metadata> <metadata key=“source_file_line”>]></metadata>

</field>
<field name="elements" type="/std/vector&lt;/std/vector&lt;/base/JointState&gt;&gt;" offset="24">
<metadata key="doc"><![CDATA[The element vector ]]></metadata>

  </field>
<metadata key="orogen_defining_typekits"><![CDATA[base]]></metadata>

</compound>
<compound name="/base/actuators/AdaptativeCommands" size="32">
  <field name="time" type="/base/Time" offset="0">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/install/include/base/backward/base/actuators/commands.h:97]]></metadata>

  </field>
  <field name="commands" type="/std/vector&lt;/base/actuators/AdaptativeCommand&gt;" offset="8">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/install/include/base/backward/base/actuators/commands.h:98]]></metadata>

  </field>
<metadata key="doc"><![CDATA[\deprecated

Synchronized set of adaptive commands for a set of actuators

Since this type contains std::vector, one must preallocate it and resize the mode and target vectors accordingly before updateHook().]]></metadata> <metadata key=“orogen_defining_typekits”>]></metadata> <metadata key=“orogen_exporting_typekits”>]></metadata> <metadata key=“orogen_include”>]></metadata> <metadata key=“source_file_line”>]></metadata>

</compound>
<compound name="/base/actuators/Command" size="56">
  <field name="time" type="/base/Time" offset="0">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/install/include/base/backward/base/actuators/commands.h:47]]></metadata>

  </field>
  <field name="mode" type="/std/vector&lt;/base/actuators/DRIVE_MODE&gt;" offset="8">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/install/include/base/backward/base/actuators/commands.h:49]]></metadata>

  </field>
  <field name="target" type="/std/vector&lt;/double&gt;" offset="32">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/install/include/base/backward/base/actuators/commands.h:50]]></metadata>

  </field>
<metadata key="doc"><![CDATA[\deprecated use base::commands::Joints

Synchronized set of commands for a set of actuators

</compound>
<compound name="/base/actuators/Status" size="40">
  <field name="time" type="/base/Time" offset="0">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/install/include/base/backward/base/actuators/status.h:56]]></metadata>

  </field>
  <field name="index" type="/uint64_t" offset="8">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/install/include/base/backward/base/actuators/status.h:57]]></metadata>

  </field>
  <field name="states" type="/std/vector&lt;/base/actuators/MotorState&gt;" offset="16">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/install/include/base/backward/base/actuators/status.h:58]]></metadata>

  </field>
<metadata key="doc"><![CDATA[Synchronized set of actuator states ]]></metadata>

</compound>
<compound name="/base/samples/DistanceImage" size="56">
  <field name="time" type="/base/Time" offset="0">
  <metadata key="doc"><![CDATA[original timestamp of the camera image]]></metadata>

</field>
<field name="width" type="/uint16_t" offset="8">
<metadata key="doc"><![CDATA[width (x) value in pixels]]></metadata>

</field>
<field name="height" type="/uint16_t" offset="10">
<metadata key="doc"><![CDATA[height (y) value in pixels]]></metadata>

</field>
<field name="scale_x" type="/float" offset="12">
<metadata key="doc"><![CDATA[scale value to apply to the x axis]]></metadata>

</field>
<field name="scale_y" type="/float" offset="16">
<metadata key="doc"><![CDATA[scale value to apply to the y axis]]></metadata>

</field>
<field name="center_x" type="/float" offset="20">
<metadata key="doc"><![CDATA[center offset to apply to the x axis]]></metadata>

</field>
<field name="center_y" type="/float" offset="24">
<metadata key="doc"><![CDATA[center offset to apply to the y axis]]></metadata>

</field>
<field name="data" type="/std/vector&lt;/float&gt;" offset="32">
<metadata key="doc"><![CDATA[distance values stored in row major order. NaN is used as the no value type.]]></metadata>

  </field>
<metadata key="orogen_defining_typekits"><![CDATA[base]]></metadata>

</compound>
<compound name="/base/samples/Joints" size="56">
  <field name="names" type="/std/vector&lt;/std/string&gt;" offset="0">
  <metadata key="doc"><![CDATA[The names of the elements described in this structure, in the same

order than the 'elements' field below]]></metadata> <metadata key=“source_file_line”>]></metadata>

</field>
<field name="elements" type="/std/vector&lt;/base/JointState&gt;" offset="24">
<metadata key="doc"><![CDATA[The element vector ]]></metadata>

</field>
<field name="time" type="/base/Time" offset="48">
<metadata key="doc"><![CDATA[The sample timestamp ]]></metadata>

  </field>
<metadata key="base_classes"><![CDATA[/base/NamedVector</base/JointState>]]></metadata>

</compound>
<compound name="/base/samples/LaserScan" size="88">
  <field name="time" type="/base/Time" offset="0">
  <metadata key="doc"><![CDATA[The timestamp of this reading. The timestamp is the time at which the

laser passed the zero step (i.e. the step at the back of the device, which is distinct from the measurement 0)]]></metadata> <metadata key=“source_file_line”>]></metadata>

</field>
<field name="start_angle" type="/double" offset="8">
<metadata key="doc"><![CDATA[The angle at which the range readings start. Zero is at the front of

the device and turns counter-clockwise. This value is in radians]]></metadata> <metadata key=“source_file_line”>]></metadata>

</field>
<field name="angular_resolution" type="/double" offset="16">
<metadata key="doc"><![CDATA[Angle difference between two scan point in radians;]]></metadata>

</field>
<field name="speed" type="/double" offset="24">
<metadata key="doc"><![CDATA[The rotation speed of the laserbeam in radians/seconds]]></metadata>

</field>
<field name="ranges" type="/std/vector&lt;/uint32_t&gt;" offset="32">
<metadata key="doc"><![CDATA[The ranges themselves: the distance to obstacles in millimeters]]></metadata>

</field>
<field name="minRange" type="/uint32_t" offset="56">
<metadata key="doc"><![CDATA[minimal valid range returned by laserscanner ]]></metadata>

</field>
<field name="maxRange" type="/uint32_t" offset="60">
<metadata key="doc"><![CDATA[maximal valid range returned by laserscanner ]]></metadata>

</field>
<field name="remission" type="/std/vector&lt;/float&gt;" offset="64">
<metadata key="doc"><![CDATA[The remission value from the laserscan.

This value is not normalised and depends on various factors, like distance, angle of incidence and reflectivity of object.]]></metadata> <metadata key=“source_file_line”>]></metadata>

  </field>
<metadata key="orogen_defining_typekits"><![CDATA[base]]></metadata>

</compound>
<compound name="/base/samples/Pointcloud" size="56">
  <field name="time" type="/base/Time" offset="0">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/install/include/base/samples/Pointcloud.hpp:15]]></metadata>

  </field>
  <field name="points" type="/std/vector&lt;/base/Vector3d&gt;" offset="8">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/install/include/base/samples/Pointcloud.hpp:17]]></metadata>

  </field>
  <field name="colors" type="/std/vector&lt;/base/Vector4d&gt;" offset="32">
  <metadata key="doc"><![CDATA[Colors of each point if availible,

leave empty if points are uncolored otherwise it should have the same size than the points vector]]></metadata> <metadata key=“source_file_line”>]></metadata>

  </field>
<metadata key="orogen_defining_typekits"><![CDATA[base]]></metadata>

</compound>
<compound name="/base/samples/RigidBodyState" size="416">
  <field name="time" type="/base/Time" offset="0">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/install/include/base/samples/RigidBodyState.hpp:39]]></metadata>

  </field>
  <field name="sourceFrame" type="/std/string" offset="8">
  <metadata key="doc"><![CDATA[Name of the source reference frame ]]></metadata>

</field>
<field name="targetFrame" type="/std/string" offset="16">
<metadata key="doc"><![CDATA[Name of the target reference frame ]]></metadata>

</field>
<field name="position" type="/base/Vector3d" offset="24">
<metadata key="doc"><![CDATA[Position in m of sourceFrame's origin expressed in targetFrame]]></metadata>

</field>
<field name="cov_position" type="/base/Matrix3d" offset="48">
<metadata key="doc"><![CDATA[Covariance matrix of the position]]></metadata>

</field>
<field name="orientation" type="/base/Quaterniond" offset="120">
<metadata key="doc"><![CDATA[Orientation of targetFrame expressed in sourceFrame ]]></metadata>

</field>
<field name="cov_orientation" type="/base/Matrix3d" offset="152">
<metadata key="doc"><![CDATA[Covariance matrix of the orientation as an axis/angle manifold in

body coordinates]]></metadata> <metadata key=“source_file_line”>]></metadata>

</field>
<field name="velocity" type="/base/Vector3d" offset="224">
<metadata key="doc"><![CDATA[Velocity in m/s of sourceFrame expressed in targetFrame ]]></metadata>

</field>
<field name="cov_velocity" type="/base/Matrix3d" offset="248">
<metadata key="doc"><![CDATA[Covariance of the velocity]]></metadata>

</field>
<field name="angular_velocity" type="/base/Vector3d" offset="320">
<metadata key="doc"><![CDATA[Angular Velocity as an axis-angle representation in body fixed frame

The direction of the vector is the axis, its length the speed ]]></metadata> <metadata key=“source_file_line”>]></metadata>

</field>
<field name="cov_angular_velocity" type="/base/Matrix3d" offset="344">
<metadata key="doc"><![CDATA[Covariance of the angular velocity]]></metadata>

  </field>
<metadata key="orogen_defining_typekits"><![CDATA[base]]></metadata>

</compound>
<compound name="/base/samples/SonarBeam" size="64">
  <field name="time" type="/base/Time" offset="0">
  <metadata key="doc"><![CDATA[timestamp of the sonar beam]]></metadata>

</field>
<field name="bearing" type="/base/Angle" offset="8">
<metadata key="doc"><![CDATA[direction of the sonar beam in radians [-pi,+pi]

zero is at the front]]></metadata> <metadata key=“source_file_line”>]></metadata>

</field>
<field name="sampling_interval" type="/double" offset="16">
<metadata key="doc"><![CDATA[sampling interval of each range bin in secs]]></metadata>

</field>
<field name="speed_of_sound" type="/float" offset="24">
<metadata key="doc"><![CDATA[speed of sound

this takes the medium into account]]></metadata> <metadata key=“source_file_line”>]></metadata>

</field>
<field name="beamwidth_horizontal" type="/float" offset="28">
<metadata key="doc"><![CDATA[horizontal beamwidth of the sonar beam in radians]]></metadata>

</field>
<field name="beamwidth_vertical" type="/float" offset="32">
<metadata key="doc"><![CDATA[vertical beamwidth of the sonar beam in radians]]></metadata>

</field>
<field name="beam" type="/std/vector&lt;/uint8_t&gt;" offset="40">
<metadata key="doc"><![CDATA[received echoes (bins) along the beam]]></metadata>

  </field>
<metadata key="orogen_defining_typekits"><![CDATA[base]]></metadata>

</compound>
<compound name="/base/samples/SonarScan" size="120">
  <field name="time" type="/base/Time" offset="0">
  <metadata key="doc"><![CDATA[The time at which this sonar scan has been captured]]></metadata>

</field>
<field name="data" type="/std/vector&lt;/uint8_t&gt;" offset="8">
<metadata key="doc"><![CDATA[The raw data of the sonar scan]]></metadata>

</field>
<field name="time_beams" type="/std/vector&lt;/base/Time&gt;" offset="32">
<metadata key="doc"><![CDATA[Time stamp for each sonar beam

if the time stamp is 1 January 1970 the beam is regarded as not be set vector can be empty in this case time is used for all beams]]></metadata> <metadata key=“source_file_line”>]></metadata>

</field>
<field name="number_of_beams" type="/uint16_t" offset="56">
<metadata key="doc"><![CDATA[number of beams

this can be interpreted as image width]]></metadata> <metadata key=“source_file_line”>]></metadata>

</field>
<field name="number_of_bins" type="/uint16_t" offset="58">
<metadata key="doc"><![CDATA[number of bins

this can be interpreted as image height]]></metadata> <metadata key=“source_file_line”>]></metadata>

</field>
<field name="start_bearing" type="/base/Angle" offset="64">
<metadata key="doc"><![CDATA[The angle at which the reading starts. Zero is at the front of

the device and turns counter-clockwise. This value is in radians

All beams are stored from left to right to match the memory layout of an image !!! Therefore the end bearing is usually smaller than the start bearing]]></metadata> <metadata key=“source_file_line”>]></metadata>

</field>
<field name="angular_resolution" type="/base/Angle" offset="72">
<metadata key="doc"><![CDATA[Angle difference between two beams in radians

The beams are stored from left to right to match the memory layout of an image

This value must be always positive !]]></metadata> <metadata key=“source_file_line”>]></metadata>

</field>
<field name="sampling_interval" type="/double" offset="80">
<metadata key="doc"><![CDATA[sampling interval of each range bin in secs]]></metadata>

</field>
<field name="speed_of_sound" type="/float" offset="88">
<metadata key="doc"><![CDATA[speed of sound

this takes the medium into account]]></metadata> <metadata key=“source_file_line”>]></metadata>

</field>
<field name="beamwidth_horizontal" type="/base/Angle" offset="96">
<metadata key="doc"><![CDATA[horizontal beam width of the sonar beam in radians]]></metadata>

</field>
<field name="beamwidth_vertical" type="/base/Angle" offset="104">
<metadata key="doc"><![CDATA[vertical beam width of the sonar beam in radians]]></metadata>

</field>
<field name="memory_layout_column" type="/bool" offset="112">
<metadata key="doc"><![CDATA[if set to true one sonar beam is stored per column

otherwise per row]]></metadata> <metadata key=“source_file_line”>]></metadata>

</field>
<field name="polar_coordinates" type="/bool" offset="113">
<metadata key="doc"><![CDATA[if set to true the bins are interpreted in polar coordinates

otherwise in Cartesian coordinates

Some imaging sonars store their data in Cartesian rather than polar coordinates (BlueView)]]></metadata> <metadata key=“source_file_line”>]></metadata>

  </field>
<metadata key="orogen_defining_typekits"><![CDATA[base]]></metadata>

</compound>
<alias name="/base/commands/Joints" source="/base/samples/Joints"/>
<compound name="/base/samples/frame/frame_attrib_t" size="16">
  <field name="data_" type="/std/string" offset="0">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/install/include/base/samples/Frame.hpp:24]]></metadata>

  </field>
  <field name="name_" type="/std/string" offset="8">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/install/include/base/samples/Frame.hpp:25]]></metadata>

  </field>
<metadata key="orogen_defining_typekits"><![CDATA[base]]></metadata>

</compound>
<container name="/std/vector&lt;/base/JointTransform&gt;" of="/base/JointTransform" size="24" kind="/std/vector">
<metadata key="orogen_defining_typekits"><![CDATA[base]]></metadata>

</container>
<container name="/std/vector&lt;/base/samples/frame/frame_attrib_t&gt;" of="/base/samples/frame/frame_attrib_t" size="24" kind="/std/vector">
<metadata key="orogen_defining_typekits"><![CDATA[base]]></metadata>

</container>
<compound name="/base/JointTransformVector" size="48">
  <field name="names" type="/std/vector&lt;/std/string&gt;" offset="0">
  <metadata key="doc"><![CDATA[The names of the elements described in this structure, in the same

order than the 'elements' field below]]></metadata> <metadata key=“source_file_line”>]></metadata>

</field>
<field name="elements" type="/std/vector&lt;/base/JointTransform&gt;" offset="24">
<metadata key="doc"><![CDATA[The element vector ]]></metadata>

  </field>
<metadata key="base_classes"><![CDATA[/base/NamedVector</base/JointTransform>]]></metadata>

</compound>
<compound name="/base/NamedVector&lt;/base/JointTransform&gt;" size="48">
  <field name="names" type="/std/vector&lt;/std/string&gt;" offset="0">
  <metadata key="doc"><![CDATA[The names of the elements described in this structure, in the same

order than the 'elements' field below]]></metadata> <metadata key=“source_file_line”>]></metadata>

</field>
<field name="elements" type="/std/vector&lt;/base/JointTransform&gt;" offset="24">
<metadata key="doc"><![CDATA[The element vector ]]></metadata>

  </field>
<metadata key="orogen_defining_typekits"><![CDATA[base]]></metadata>

</compound>
<compound name="/base/samples/frame/Frame" size="88">
  <field name="time" type="/base/Time" offset="0">
  <metadata key="doc"><![CDATA[The time at which this frame has been captured

This is obviously an estimate]]></metadata> <metadata key=“source_file_line”>]></metadata>

</field>
<field name="received_time" type="/base/Time" offset="8">
<metadata key="doc"><![CDATA[The time at which this frame has been received on the system ]]></metadata>

</field>
<field name="image" type="/std/vector&lt;/uint8_t&gt;" offset="16">
<metadata key="doc"><![CDATA[The raw data ]]></metadata>

</field>
<field name="attributes" type="/std/vector&lt;/base/samples/frame/frame_attrib_t&gt;" offset="40">
<metadata key="doc"><![CDATA[Additional metadata ]]></metadata>

</field>
<field name="size" type="/base/samples/frame/frame_size_t" offset="64">
<metadata key="doc"><![CDATA[The image size in pixels ]]></metadata>

</field>
<field name="data_depth" type="/uint32_t" offset="68">
<metadata key="doc"><![CDATA[The number of effective bits per channel. The number

of actual bits per channel is always a multiple of height (i.e. a 12-bit effective depth is represented using 16-bits per channels). The number of greyscale levels is 2^(this_number)]]></metadata> <metadata key=“source_file_line”>]></metadata>

</field>
<field name="pixel_size" type="/uint32_t" offset="72">
<metadata key="doc"><![CDATA[The size of one pixel, in bytes

For instance, for a RGB image with a 8 bit data depth, it would be 3. For a 12 bit non-packed image (i.e with each channel encoded on 2 bytes), it would be 6.]]></metadata> <metadata key=“source_file_line”>]></metadata>

</field>
<field name="row_size" type="/uint32_t" offset="76">
<metadata key="doc"><![CDATA[The size of a complete row in bytes]]></metadata>

</field>
<field name="frame_mode" type="/base/samples/frame/frame_mode_t" offset="80">
<metadata key="doc"><![CDATA[The colorspace of the image]]></metadata>

</field>
<field name="frame_status" type="/base/samples/frame/frame_status_t" offset="84">
<metadata key="doc"><![CDATA[Status flag ]]></metadata>

  </field>
<metadata key="orogen_defining_typekits"><![CDATA[base]]></metadata>

</compound>
<compound name="/base/samples/frame/FramePair" size="192">
  <field name="time" type="/base/Time" offset="0">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/install/include/base/samples/Frame.hpp:550]]></metadata>

  </field>
  <field name="first" type="/base/samples/frame/Frame" offset="8">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/install/include/base/samples/Frame.hpp:551]]></metadata>

  </field>
  <field name="second" type="/base/samples/frame/Frame" offset="96">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/install/include/base/samples/Frame.hpp:552]]></metadata>

  </field>
  <field name="id" type="/uint32_t" offset="184">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/install/include/base/samples/Frame.hpp:553]]></metadata>

  </field>
<metadata key="orogen_defining_typekits"><![CDATA[base]]></metadata>

</compound>
<compound name="/wrappers/Matrix&lt;/double,2,1&gt;" size="16">
  <field name="data" type="/double[2]" offset="0">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/base/orogen/types/.orogen/typekit/types/base/wrappers/Eigen.hpp:15]]></metadata>

  </field>
<metadata key="orogen_defining_typekits"><![CDATA[base]]></metadata>

</compound>
<compound name="/wrappers/Matrix&lt;/double,2,2&gt;" size="32">
  <field name="data" type="/double[4]" offset="0">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/base/orogen/types/.orogen/typekit/types/base/wrappers/Eigen.hpp:15]]></metadata>

  </field>
<metadata key="orogen_defining_typekits"><![CDATA[base]]></metadata>

</compound>
<alias name="/wrappers/Matrix2d" source="/wrappers/Matrix&lt;/double,2,2&gt;"/>
<compound name="/wrappers/Matrix&lt;/double,3,1&gt;" size="24">
  <field name="data" type="/double[3]" offset="0">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/base/orogen/types/.orogen/typekit/types/base/wrappers/Eigen.hpp:15]]></metadata>

  </field>
<metadata key="orogen_defining_typekits"><![CDATA[base]]></metadata>

</compound>
<compound name="/wrappers/Matrix&lt;/double,3,3&gt;" size="72">
  <field name="data" type="/double[9]" offset="0">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/base/orogen/types/.orogen/typekit/types/base/wrappers/Eigen.hpp:15]]></metadata>

  </field>
<metadata key="orogen_defining_typekits"><![CDATA[base]]></metadata>

</compound>
<alias name="/wrappers/Matrix3d" source="/wrappers/Matrix&lt;/double,3,3&gt;"/>
<compound name="/wrappers/Matrix&lt;/double,4,1&gt;" size="32">
  <field name="data" type="/double[4]" offset="0">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/base/orogen/types/.orogen/typekit/types/base/wrappers/Eigen.hpp:15]]></metadata>

  </field>
<metadata key="orogen_defining_typekits"><![CDATA[base]]></metadata>

</compound>
<compound name="/wrappers/Matrix&lt;/double,4,4&gt;" size="128">
  <field name="data" type="/double[16]" offset="0">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/base/orogen/types/.orogen/typekit/types/base/wrappers/Eigen.hpp:15]]></metadata>

  </field>
<metadata key="orogen_defining_typekits"><![CDATA[base]]></metadata>

</compound>
<alias name="/wrappers/Matrix4d" source="/wrappers/Matrix&lt;/double,4,4&gt;"/>
<alias name="/wrappers/Matrix4x4d" source="/wrappers/Matrix&lt;/double,4,4&gt;"/>
<compound name="/wrappers/Matrix&lt;/double,6,1&gt;" size="48">
  <field name="data" type="/double[6]" offset="0">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/base/orogen/types/.orogen/typekit/types/base/wrappers/Eigen.hpp:15]]></metadata>

  </field>
<metadata key="orogen_defining_typekits"><![CDATA[base]]></metadata>

</compound>
<compound name="/wrappers/Matrix&lt;/double,6,6&gt;" size="288">
  <field name="data" type="/double[36]" offset="0">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/base/orogen/types/.orogen/typekit/types/base/wrappers/Eigen.hpp:15]]></metadata>

  </field>
<metadata key="orogen_defining_typekits"><![CDATA[base]]></metadata>

</compound>
<alias name="/wrappers/Matrix6d" source="/wrappers/Matrix&lt;/double,6,6&gt;"/>
<compound name="/wrappers/MatrixX&lt;/double&gt;" size="32">
  <field name="rows" type="/int32_t" offset="0">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/base/orogen/types/.orogen/typekit/types/base/wrappers/Eigen.hpp:23]]></metadata>

  </field>
  <field name="cols" type="/int32_t" offset="4">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/base/orogen/types/.orogen/typekit/types/base/wrappers/Eigen.hpp:24]]></metadata>

  </field>
  <field name="data" type="/std/vector&lt;/double&gt;" offset="8">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/base/orogen/types/.orogen/typekit/types/base/wrappers/Eigen.hpp:25]]></metadata>

  </field>
<metadata key="orogen_defining_typekits"><![CDATA[base]]></metadata>

</compound>
<alias name="/wrappers/MatrixXd" source="/wrappers/MatrixX&lt;/double&gt;"/>
<compound name="/wrappers/Quaternion&lt;/double&gt;" size="32">
  <field name="im" type="/double[3]" offset="0">
  <metadata key="doc"><![CDATA[store as imaginary and real part, so it comes out clear in the pocosim logs]]></metadata>

</field>
<field name="re" type="/double" offset="24">
<metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/base/orogen/types/.orogen/typekit/types/base/wrappers/Eigen.hpp:45]]></metadata>

  </field>
<metadata key="orogen_defining_typekits"><![CDATA[base]]></metadata>

</compound>
<alias name="/wrappers/Vector2d" source="/wrappers/Matrix&lt;/double,2,1&gt;"/>
<alias name="/wrappers/Vector3d" source="/wrappers/Matrix&lt;/double,3,1&gt;"/>
<alias name="/wrappers/Vector4d" source="/wrappers/Matrix&lt;/double,4,1&gt;"/>
<alias name="/wrappers/Vector6d" source="/wrappers/Matrix&lt;/double,6,1&gt;"/>
<compound name="/wrappers/VectorX&lt;/double&gt;" size="24">
  <field name="data" type="/std/vector&lt;/double&gt;" offset="0">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/base/orogen/types/.orogen/typekit/types/base/wrappers/Eigen.hpp:33]]></metadata>

  </field>
<metadata key="orogen_defining_typekits"><![CDATA[base]]></metadata>

</compound>
<alias name="/wrappers/Quaterniond" source="/wrappers/Quaternion&lt;/double&gt;"/>
<alias name="/wrappers/VectorXd" source="/wrappers/VectorX&lt;/double&gt;"/>
<compound name="/base/JointTransform_m" size="40">
  <field name="sourceFrame" type="/std/string" offset="0">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/base/orogen/types/.orogen/typekit/types/base/m_types/JointTransform.hpp:15]]></metadata>

  </field>
  <field name="targetFrame" type="/std/string" offset="8">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/base/orogen/types/.orogen/typekit/types/base/m_types/JointTransform.hpp:16]]></metadata>

  </field>
  <field name="rotationAxis" type="/wrappers/Matrix&lt;/double,3,1&gt;" offset="16">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/base/orogen/types/.orogen/typekit/types/base/m_types/JointTransform.hpp:17]]></metadata>

  </field>
<metadata key="orogen_defining_typekits"><![CDATA[base]]></metadata>

</compound>
<compound name="/base/Pose2D_m" size="24">
  <field name="position" type="/wrappers/Matrix&lt;/double,2,1&gt;" offset="0">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/base/orogen/types/.orogen/typekit/types/base/m_types/Pose2D.hpp:14]]></metadata>

  </field>
  <field name="orientation" type="/double" offset="16">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/base/orogen/types/.orogen/typekit/types/base/m_types/Pose2D.hpp:15]]></metadata>

  </field>
<metadata key="orogen_defining_typekits"><![CDATA[base]]></metadata>

</compound>
<compound name="/base/Pose_m" size="56">
  <field name="position" type="/wrappers/Matrix&lt;/double,3,1&gt;" offset="0">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/base/orogen/types/.orogen/typekit/types/base/m_types/Pose.hpp:14]]></metadata>

  </field>
  <field name="orientation" type="/wrappers/Quaternion&lt;/double&gt;" offset="24">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/base/orogen/types/.orogen/typekit/types/base/m_types/Pose.hpp:15]]></metadata>

  </field>
<metadata key="orogen_defining_typekits"><![CDATA[base]]></metadata>

</compound>
<compound name="/base/Waypoint_m" size="48">
  <field name="position" type="/wrappers/Matrix&lt;/double,3,1&gt;" offset="0">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/base/orogen/types/.orogen/typekit/types/base/m_types/Waypoint.hpp:14]]></metadata>

  </field>
  <field name="heading" type="/double" offset="24">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/base/orogen/types/.orogen/typekit/types/base/m_types/Waypoint.hpp:15]]></metadata>

  </field>
  <field name="tol_position" type="/double" offset="32">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/base/orogen/types/.orogen/typekit/types/base/m_types/Waypoint.hpp:16]]></metadata>

  </field>
  <field name="tol_heading" type="/double" offset="40">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/base/orogen/types/.orogen/typekit/types/base/m_types/Waypoint.hpp:17]]></metadata>

  </field>
<metadata key="orogen_defining_typekits"><![CDATA[base]]></metadata>

</compound>
<compound name="/base/samples/IMUSensors_m" size="80">
  <field name="time" type="/base/Time" offset="0">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/base/orogen/types/.orogen/typekit/types/base/m_types/IMUSensors.hpp:16]]></metadata>

  </field>
  <field name="acc" type="/wrappers/Matrix&lt;/double,3,1&gt;" offset="8">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/base/orogen/types/.orogen/typekit/types/base/m_types/IMUSensors.hpp:17]]></metadata>

  </field>
  <field name="gyro" type="/wrappers/Matrix&lt;/double,3,1&gt;" offset="32">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/base/orogen/types/.orogen/typekit/types/base/m_types/IMUSensors.hpp:18]]></metadata>

  </field>
  <field name="mag" type="/wrappers/Matrix&lt;/double,3,1&gt;" offset="56">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/base/orogen/types/.orogen/typekit/types/base/m_types/IMUSensors.hpp:19]]></metadata>

  </field>
<metadata key="orogen_defining_typekits"><![CDATA[base]]></metadata>

</compound>
<compound name="/base/samples/RigidBodyAcceleration_m" size="104">
  <field name="time" type="/base/Time" offset="0">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/base/orogen/types/.orogen/typekit/types/base/m_types/RigidBodyAcceleration.hpp:16]]></metadata>

  </field>
  <field name="acceleration" type="/wrappers/Matrix&lt;/double,3,1&gt;" offset="8">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/base/orogen/types/.orogen/typekit/types/base/m_types/RigidBodyAcceleration.hpp:17]]></metadata>

  </field>
  <field name="cov_acceleration" type="/wrappers/Matrix&lt;/double,3,3&gt;" offset="32">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/base/orogen/types/.orogen/typekit/types/base/m_types/RigidBodyAcceleration.hpp:18]]></metadata>

  </field>
<metadata key="orogen_defining_typekits"><![CDATA[base]]></metadata>

</compound>
<compound name="/base/samples/RigidBodyState_m" size="416">
  <field name="time" type="/base/Time" offset="0">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/base/orogen/types/.orogen/typekit/types/base/m_types/RigidBodyState.hpp:17]]></metadata>

  </field>
  <field name="sourceFrame" type="/std/string" offset="8">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/base/orogen/types/.orogen/typekit/types/base/m_types/RigidBodyState.hpp:18]]></metadata>

  </field>
  <field name="targetFrame" type="/std/string" offset="16">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/base/orogen/types/.orogen/typekit/types/base/m_types/RigidBodyState.hpp:19]]></metadata>

  </field>
  <field name="position" type="/wrappers/Matrix&lt;/double,3,1&gt;" offset="24">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/base/orogen/types/.orogen/typekit/types/base/m_types/RigidBodyState.hpp:20]]></metadata>

  </field>
  <field name="cov_position" type="/wrappers/Matrix&lt;/double,3,3&gt;" offset="48">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/base/orogen/types/.orogen/typekit/types/base/m_types/RigidBodyState.hpp:21]]></metadata>

  </field>
  <field name="orientation" type="/wrappers/Quaternion&lt;/double&gt;" offset="120">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/base/orogen/types/.orogen/typekit/types/base/m_types/RigidBodyState.hpp:22]]></metadata>

  </field>
  <field name="cov_orientation" type="/wrappers/Matrix&lt;/double,3,3&gt;" offset="152">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/base/orogen/types/.orogen/typekit/types/base/m_types/RigidBodyState.hpp:23]]></metadata>

  </field>
  <field name="velocity" type="/wrappers/Matrix&lt;/double,3,1&gt;" offset="224">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/base/orogen/types/.orogen/typekit/types/base/m_types/RigidBodyState.hpp:24]]></metadata>

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  </field>
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  </field>
  <field name="cov_angular_velocity" type="/wrappers/Matrix&lt;/double,3,3&gt;" offset="344">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/base/orogen/types/.orogen/typekit/types/base/m_types/RigidBodyState.hpp:27]]></metadata>

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<metadata key="orogen_defining_typekits"><![CDATA[base]]></metadata>

</compound>
<container name="/std/vector&lt;/base/JointTransform_m&gt;" of="/base/JointTransform_m" size="24" kind="/std/vector">
<metadata key="orogen_defining_typekits"><![CDATA[base]]></metadata>

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<container name="/std/vector&lt;/base/Waypoint_m&gt;" of="/base/Waypoint_m" size="24" kind="/std/vector">
<metadata key="orogen_defining_typekits"><![CDATA[base]]></metadata>

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</container>
<alias name="/std/orogen_typekits_mtype_std_vector__base_JointTransform_" source="/std/vector&lt;/base/JointTransform_m&gt;"/>
<alias name="/std/orogen_typekits_mtype_std_vector__base_Waypoint_" source="/std/vector&lt;/base/Waypoint_m&gt;"/>
<alias name="/std/vector&lt;/wrappers/Vector4d&gt;" source="/std/vector&lt;/wrappers/Matrix&lt;/double,4,1&gt;&gt;"/>
<compound name="/base/JointTransformVector_m" size="48">
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  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/base/orogen/types/.orogen/typekit/types/base/m_types/JointTransformVector.hpp:15]]></metadata>

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  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/base/orogen/types/.orogen/typekit/types/base/m_types/NamedVector__base_JointTransform_.hpp:16]]></metadata>

  </field>
<metadata key="orogen_defining_typekits"><![CDATA[base]]></metadata>

</compound>
<compound name="/base/samples/Pointcloud_m" size="56">
  <field name="time" type="/base/Time" offset="0">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/base/orogen/types/.orogen/typekit/types/base/m_types/Pointcloud.hpp:17]]></metadata>

  </field>
  <field name="points" type="/std/vector&lt;/wrappers/Matrix&lt;/double,3,1&gt;&gt;" offset="8">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/base/orogen/types/.orogen/typekit/types/base/m_types/Pointcloud.hpp:18]]></metadata>

  </field>
  <field name="colors" type="/std/vector&lt;/wrappers/Matrix&lt;/double,4,1&gt;&gt;" offset="32">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/base/orogen/types/.orogen/typekit/types/base/m_types/Pointcloud.hpp:19]]></metadata>

  </field>
<metadata key="orogen_defining_typekits"><![CDATA[base]]></metadata>

</compound>
<alias name="/wrappers/Matrix&lt;/double,2,1&gt;/Scalar" source="/double"/>
<alias name="/wrappers/Matrix&lt;/double,2,2&gt;/Scalar" source="/double"/>
<alias name="/wrappers/Matrix&lt;/double,3,1&gt;/Scalar" source="/double"/>
<alias name="/wrappers/Matrix&lt;/double,3,3&gt;/Scalar" source="/double"/>
<alias name="/wrappers/Matrix&lt;/double,4,1&gt;/Scalar" source="/double"/>
<alias name="/wrappers/Matrix&lt;/double,4,4&gt;/Scalar" source="/double"/>
<alias name="/wrappers/Matrix&lt;/double,6,1&gt;/Scalar" source="/double"/>
<alias name="/wrappers/Matrix&lt;/double,6,6&gt;/Scalar" source="/double"/>
<alias name="/wrappers/MatrixX&lt;/double&gt;/Scalar" source="/double"/>
<alias name="/wrappers/VectorX&lt;/double&gt;/Scalar" source="/double"/>
<enum name="/wrappers/geometry/SplineType">
  <value symbol="DEGENERATE" value="0"/>
  <value symbol="POLYNOMIAL_BEZIER" value="3"/>
  <value symbol="POLYNOMIAL_BSPLINE" value="1"/>
  <value symbol="RATIONAL_BEZIER" value="4"/>
  <value symbol="RATIONAL_BSPLINE" value="2"/>
<metadata key="orogen_defining_typekits"><![CDATA[base]]></metadata>

</enum>
<compound name="/wrappers/geometry/Spline" size="72">
  <field name="geometric_resolution" type="/double" offset="0">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/base/orogen/types/.orogen/typekit/types/base/wrappers/geometry/Spline.hpp:25]]></metadata>

</field>
<field name="dimension" type="/int32_t" offset="8">
<metadata key="doc"><![CDATA[The dimension in which the curve lies ]]></metadata>

</field>
<field name="curve_order" type="/int32_t" offset="12">
<metadata key="doc"><![CDATA[The curve order ]]></metadata>

</field>
<field name="kind" type="/wrappers/geometry/SplineType" offset="16">
<metadata key="doc"><![CDATA[The type of the curve ]]></metadata>

</field>
<field name="knots" type="/std/vector&lt;/double&gt;" offset="24">
<metadata key="doc"><![CDATA[The curve knots. This is vertex_count + curve_order values ]]></metadata>

</field>
<field name="vertices" type="/std/vector&lt;/double&gt;" offset="48">
<metadata key="doc"><![CDATA[The vertices, as vertex_count * dimension coordinates if kind is

non-rational and vertex_count * (dimension + 1) otherwise. ]]></metadata> <metadata key=“source_file_line”>]></metadata> <metadata key=“source_file_line”>]></metadata>

  </field>
<metadata key="orogen_defining_typekits"><![CDATA[base]]></metadata>

</compound>
<compound name="/base/Trajectory_m" size="80">
  <field name="speed" type="/double" offset="0">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/base/orogen/types/.orogen/typekit/types/base/m_types/Trajectory.hpp:14]]></metadata>

  </field>
  <field name="spline" type="/wrappers/geometry/Spline" offset="8">
  <metadata key="source_file_line"><![CDATA[/home/doudou/dev/rock/toolchain-devel/orogen_cleanup/base/orogen/types/.orogen/typekit/types/base/m_types/Trajectory.hpp:15]]></metadata>

  </field>
<metadata key="orogen_defining_typekits"><![CDATA[base]]></metadata>

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<container name="/std/vector&lt;/base/Trajectory_m&gt;" of="/base/Trajectory_m" size="24" kind="/std/vector">
<metadata key="orogen_defining_typekits"><![CDATA[base]]></metadata>

</container>
<alias name="/std/orogen_typekits_mtype_std_vector__base_Trajectory_" source="/std/vector&lt;/base/Trajectory_m&gt;"/>

</typelib>