types.h

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/*
 * This file is part of ArmarX.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @author     Fabian Reister ( fabian dot reister at kit dot edu )
 * @date       2021
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <Eigen/Geometry>
 
#include <RobotAPI/libraries/armem/core/Time.h>
 
 
namespace armarx::armem::robot_state
{
    struct TransformHeader
    {
        std::string parentFrame;
        std::string frame;
 
        std::string agent;
 
        armem::Time timestamp;
    };
 
    struct Transform
    {
        TransformHeader header;
 
        Eigen::Affine3f transform = Eigen::Affine3f::Identity();
 
        EIGEN_MAKE_ALIGNED_OPERATOR_NEW
    };
 
    struct JointState
    {
        std::string name;
        float position;
    };
 
}  // namespace armarx::armem::robot_state