/*
Manipulator Common Interface (Data type defenition)
- This IDL is used as service port on RTC
- This command specification is provided by Intelligent RT Software
Project of NEDO.
rev. 20131127
*/
#ifndef MANIPULATORCOMMONINTERFACE_DATATYPES_1_1_IDL
#define MANIPULATORCOMMONINTERFACE_DATATYPES_1_1_IDL
#include "BasicDataType.idl"
enum {
OK = 0,
NG = -1,
STATUS_ERR = -2,
VALUE_ERR = -3,
NOT_SV_ON_ERR = -4,
FULL_MOTION_QUEUE_ERR = -5,
NOT_IMPLEMENTED = -6
}
typedef sequence<double> DoubleSeq;
typedef sequence<double> JointPos;
struct LimitValue {
double upper;
double lower;
};
struct RETURN_ID {
long id;
string comment;
};
struct TimedJointPos {
RTC::Time tm;
JointPos pos;
};
typedef unsigned long ULONG;
#endif // MANIPULATORCOMMONINTERFACE_DATATYPES_1_1_IDL