JointSample.idl

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/*
 * Copyright (c) 2009 United States Government as represented by the
 * Administrator of the National Aeronautics and Space Administration.
 * All Rights Reserved.
 */

#include "Message.idl"

module rapid {

    const long JOINT_ENABLED        = 0x0000;

    const long JOINT_DISABLED       = 0x0001;

    const long JOINT_FROZEN         = 0x0003;

    const long JOINT_ESTOP          = 0x0005;

    const long JOINT_FAILURE        = 0x0100;

    const long JOINT_OVER_CURRENT   = 0x0300;

    const long JOINT_POSITION_ERROR = 0x0500;

    valuetype JointSample : Message {

        public FloatSequence anglePos;

        public FloatSequence angleVel;

        public FloatSequence angleAcc;

        public FloatSequence current;

        public FloatSequence torque;

        public FloatSequence temperature;

        public LongSequence status;

        public NFSeqSequence16 auxFloat;
    };

};