iLab Neuromorphic Robotics Toolkit  0.1
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VelocityMessage.H
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1 /*! @file
2  @author Unknown
3  @copyright GNU Public License (GPL v3)
4  @section License
5  @verbatim
6  // ////////////////////////////////////////////////////////////////////////
7  // The iLab Neuromorphic Robotics Toolkit (NRT) //
8  // Copyright 2010-2012 by the University of Southern California (USC) //
9  // and the iLab at USC. //
10  // //
11  // iLab - University of Southern California //
12  // Hedco Neurociences Building, Room HNB-10 //
13  // Los Angeles, Ca 90089-2520 - USA //
14  // //
15  // See http://ilab.usc.edu for information about this project. //
16  // ////////////////////////////////////////////////////////////////////////
17  // This file is part of The iLab Neuromorphic Robotics Toolkit. //
18  // //
19  // The iLab Neuromorphic Robotics Toolkit is free software: you can //
20  // redistribute it and/or modify it under the terms of the GNU General //
21  // Public License as published by the Free Software Foundation, either //
22  // version 3 of the License, or (at your option) any later version. //
23  // //
24  // The iLab Neuromorphic Robotics Toolkit is distributed in the hope //
25  // that it will be useful, but WITHOUT ANY WARRANTY; without even the //
26  // implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR //
27  // PURPOSE. See the GNU General Public License for more details. //
28  // //
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30  // along with The iLab Neuromorphic Robotics Toolkit. If not, see //
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32  // ////////////////////////////////////////////////////////////////////////
33  @endverbatim */
34 #ifndef INCLUDE_NRT_ROBOTICS_MESSAGES_VELOCITYMESSAGE_H
35 #define INCLUDE_NRT_ROBOTICS_MESSAGES_VELOCITYMESSAGE_H
36 
37 #include <nrt/Eigen/Eigen.H>
39 
40 namespace nrt
41 {
42  //! A message to specify translational and rotational velocities
43  /*! In general, this message is used to generate motor commands in robot driver modules. If any axes which are not
44  implemented by the robot driver are non-zero, then the robot driver should ignore those requests. The linear
45  velocity components should be specified in meters/second, and the angular velocity components should be specified
46  in radians/second.
47 
48  The coordinate system which robot drivers should implement is as follows:
49  - linear.x: Move Forwards
50  - linear.y: Strafe Left
51  - linear.z: Fly Upwards
52  - angular.x: Roll Right
53  - angular.y: Pitch Up
54  - angular.z: Yaw Right */
55  NRT_DECLARE_MESSAGE( VelocityMessage )
56  {
57  public:
58  Eigen::Vector3d linear; //!< The linear component
59  Eigen::Vector3d angular; //!< The angular component
60 
61  //! Empty constructor (Velocities are set to zeros)
62  VelocityMessage() : linear(0,0,0), angular(0,0,0) {};
63 
64  //! Construct from a linear and angular velocity
65  VelocityMessage(Eigen::Vector3d _linear, Eigen::Vector3d _angular) : linear(_linear), angular(_angular) {};
66 
67  template<class Archive>
68  inline void serialize( Archive & ar)
69  {
70  ar( linear, angular );
71  }
72  };
73 
74 }
75 
76 #endif // INCLUDE_NRT_ROBOTICS_MESSAGES_VELOCITYMESSAGE_H