/*!
 * @file  IIS.idl
 * @brief IIS IDL file
 *
 * @author Yusuke Nakajima (y.nakajima@aist.go.jp)
 * 
 *
 * Copyright (c) 2008, National Institute of Advanced Industrial Science and Technology (AIST).
 * All rights reserved. This program is made available under the terms of the
 * Eclipse Public License v1.0 which accompanies this distribution, and is
 * available at http://www.eclipse.org/legal/epl-v10.html
 */
 
#ifndef __IIS_IDL__
#define __IIS_IDL__

#include "BasicDataType.idl"

module IIS {
	struct TimedVelocity { 
  		RTC::Time tm;
 		sequence<long> id;
 		double vx;
 		double vy;
		double w;
		sequence<double> error;
 	};

	struct TimedPosition {
 		RTC::Time tm;
 		sequence<long> id;
 		double x;
 		double y;
 		double theta;
 		sequence<double> error; 
	};
}; // end of module IIS

#endif // __IIS_IDL__

