Program Listing for File fkin_types.idl¶
↰ Return to documentation for file (src/FKIN/fkin_types.idl
)
module fkin
{
struct Bit
{
boolean value;
};
#pragma keylist Bit
struct Real
{
double value;
};
#pragma keylist Real
struct Vector1d
{
double x;
};
#pragma keylist Vector1d
struct Vector2d
{
double x;
double y;
};
#pragma keylist Vector2d
struct Vector3d
{
double x;
double y;
double z;
};
#pragma keylist Vector3d
struct Vector4d
{
double x;
double y;
double z;
double w;
};
#pragma keylist Vector4d
struct Timestamp
{
long long unixMillis;
};
struct IdVec1d
{
string id;
Vector1d vec;
};
#pragma keylist IdVec1d id
struct IdVec2d
{
string id;
Vector2d vec;
};
#pragma keylist IdVec2d id
struct IdVec3d
{
string id;
Vector3d vec;
};
#pragma keylist IdVec3d id
struct IdVec4d
{
string id;
Vector4d vec;
};
#pragma keylist IdVec4d id
struct BatchIdVec1d
{
string id;
sequence<IdVec1d> batch;
sequence<Timestamp> timestamps;
};
#pragma keylist BatchIdVec1d id
struct Kinematics2D
{
string id;
Vector2d position;
Vector1d course;
Vector1d speed;
};
#pragma keylist Kinematics2D id
struct BatchKinematics2D
{
string id;
sequence<Kinematics2D> batch;
sequence<Timestamp> timestamps;
};
#pragma keylist BatchKinematics2D id
struct Kinematics6D
{
string id;
Vector3d position;
Vector3d velocity;
Vector3d euler;
};
#pragma keylist Kinematics6D id
struct BatchKinematics6D
{
string id;
sequence<Kinematics6D> batch;
sequence<Timestamp> timestamps;
};
#pragma keylist BatchKinematics6D id
enum ProcessStateKind
{
IDLE,
INITIALIZING,
RUNNING,
FAILURE,
DEAD,
UNKNOWN
};
struct ProcessStateAutomaton
{
string identifier;
ProcessStateKind state;
};
#pragma keylist ProcessStateAutomaton identifier
struct MessageID
{
string senderUUID;
long sequenceNumber;
};
struct RequestHeader
{
MessageID requestID;
string recipient;
};
struct ReplyHeader
{
MessageID relatedRequestID;
};
enum CommandType
{
START_PROCESS,
STOP_PROCESS,
TERMINATE_PROCESS,
BOGUS_COMMAND
};
struct Command
{
RequestHeader header;
CommandType command;
};
#pragma keylist Command header.recipient
struct CommandResponse
{
ReplyHeader header;
boolean success;
string message;
};
#pragma keylist CommandResponse
struct NlpFuncStat
{
double callback_fcn;
double nlp_f;
double nlp_g;
double nlp_grad;
double nlp_grad_f;
double nlp_hess_l;
double nlp_jac_g;
double total;
};
struct OptiStats
{
string id;
unsigned long iterations;
boolean status;
string status_text;
NlpFuncStat n_call;
NlpFuncStat t_proc;
NlpFuncStat t_wall;
double obj;
sequence<double> p;
sequence<double> x0;
};
#pragma keylist OptiStats id
struct NlpConfig
{
string id;
string technique;
long degree;
string solver;
double horizon;
unsigned long elements;
unsigned long nx;
unsigned long np;
unsigned long ng;
};
#pragma keylist NlpConfig id
};