robot_info.h

#pragma once
 
#include "export.h"
 
namespace rb {
 
struct RBY1_SDK_API BatteryInfo {};
 
struct RBY1_SDK_API PowerInfo {
  std::string name{};
};
 
struct RBY1_SDK_API EMOInfo {
  std::string name{};
};
 
struct RBY1_SDK_API JointInfo {
  std::string name{};
 
  bool has_brake{};
 
  std::string product_name{};
 
  std::string firmware_version{};
};
 
struct RBY1_SDK_API RobotInfo {
  std::string version{};
 
  std::string sdk_version{};
 
  std::string robot_model_name{};
 
  std::string robot_model_version{};
 
  BatteryInfo battery_info;
 
  std::vector<PowerInfo> power_infos{};
 
  std::vector<EMOInfo> emo_infos{};
 
  int degree_of_freedom{};
 
  std::vector<JointInfo> joint_infos{};
 
  std::vector<unsigned int> mobility_joint_idx{};
 
  std::vector<unsigned int> body_joint_idx{};
 
  std::vector<unsigned int> head_joint_idx{};
 
  std::vector<unsigned int> torso_joint_idx{};
 
  std::vector<unsigned int> right_arm_joint_idx{};
 
  std::vector<unsigned int> left_arm_joint_idx{};
 
  std::string robot_version{};
 
  std::string sdk_commit_id{};
};
 
}  // namespace rb