/build/rock-master-18.09-simulation-orogen-mars-0.20180420/jointTypes.hpp

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#ifndef MARS_JOINT_TYPES_HH
#define MARS_JOINT_TYPES_HH

#include <string>
#include <base/NamedVector.hpp>
#include <base/Time.hpp>


namespace mars 
{

enum JointPositionAndSpeedControlMode{MAX_SPEED,IGNORE}; //SPEED_AT_POS still unsupported

struct ParallelKinematic{
        std::string externalName;
        std::string internalName1;
        std::string internalName2;
};

struct JointCurrents: public base::NamedVector< float >{
        base::Time time;
};


}
#endif