1 #ifndef HUMANOID_SIMULATION_H
2 #define HUMANOID_SIMULATION_H
14 #include <std_msgs/String.h>
17 #include <HDU/hduVector.h>
18 #include <HDU/hduMatrix.h>
19 #include <HDU/hduError.h>
22 #include <std_msgs/Float64.h>
23 #include <sensor_msgs/JointState.h>
24 #include <sensor_msgs/Imu.h>
25 #include <geometry_msgs/Point.h>
26 #include <geometry_msgs/PointStamped.h>
27 #include <geometry_msgs/PoseStamped.h>
28 #include <geometry_msgs/Pose2D.h>
29 #include <geometry_msgs/Vector3.h>
30 #include <geometry_msgs/Vector3Stamped.h>
31 #include <geometry_msgs/PolygonStamped.h>
33 #include <vrep_common/VrepInfo.h>
34 #include <vrep_common/ObjectGroupData.h>
35 #include <vrep_common/JointSetStateData.h>
36 #include <vrep_common/ForceSensorData.h>
37 #include <vrep_common/simRosGetObjectGroupData.h>
38 #include <vrep_common/ImuData.h>
40 #include <tf/transform_broadcaster.h>
41 #include <tf/transform_listener.h>
42 #include <tf/transform_datatypes.h>
44 #include "../v_repConst.h"
49 HDdouble device_position[3];
50 HDdouble joint_angle[3];
51 HDdouble gimbal_angle[3];
52 HDboolean button_state[2];