#ifndef COM_ACT_IDL
#define COM_ACT_IDL

#include "ManipulatorCommonInterface_DataTypes.idl"
#include "ManipulatorCommonInterface_MiddleLevel.idl"
module RTC{

struct CarPosWithElbowSeq{
  sequence<RTC::CarPosWithElbow> data;
};

};

struct Vector {
  double pos[3];
};

/**
 *@file com_ACT.idl
 *@brief 分解運動速度制御によるアーム手先連速移動指示｡
 */
interface ComACT{
	RTC::CarPosWithElbow createCarPosWithElbow(in Vector xyz, in Vector abc);
  short move_to_seq(in RTC::CarPosWithElbowSeq pos);
};

#endif // COM_ACT_IDL
