
/*
Manipulator Common Interface (Middle Level Commands)
	- This IDL is used as service port on RTC
    - This command specification is provided by Intelligent RT Software
		Project of NEDO. 
rev. 20100318
*/

#ifndef MANIPULATORCOMMONINTERFACE_MIDDLE_IDL
#define MANIPULATORCOMMONINTERFACE_MIDDLE_IDL

#include "ManipulatorCommonInterface_DataTypes.idl"

module RTC
{

  typedef double HgMatrix [3][4];

  struct CarPosWithElbow {
    HgMatrix carPos;
    double   elbow;
    ULONG    structFlag;
  };

  struct CartesianSpeed {
    double translation;
    double rotation;
  };

};



#endif // MANIPULATORCOMMONINTERFACE_MIDDLE_IDL
