增加include

src/include/arm_action_define.h

@@ -0,0 +1,44 @@
+#ifndef ARM_ACTION_DEFINE_H
+#define ARM_ACTION_DEFINE_H
+
+#define USED_ARM_DOF                (6)
+#define GOAL_DATA_LENGTH            (7)
+#define USED_OTHER_DOF              (17)
+
+typedef enum {
+    ARM_COMMAND_TYPE_ANGLE_STEP_ON = 0,
+    ARM_COMMAND_TYPE_POSE_STEP_ON,
+    ARM_COMMAND_TYPE_ANGLE_DIRECT_MOVE,
+    ARM_COMMAND_TYPE_POSE_DIRECT_MOVE,
+    ARM_COMMAND_TYPE_ERR
+} ArmCommandTypeE;
+
+typedef enum {
+    POSE_POSITION_X = 0,
+    POSE_POSITION_Y,
+    POSE_POSITION_Z,
+    POSE_QUATERNION_X,
+    POSE_QUATERNION_Y,
+    POSE_QUATERNION_Z,
+    POSE_QUATERNION_W,
+    POSE_DIMENSION, // should be 7
+} PoseDimensionE;
+
+typedef enum {
+    LEFT_ARM = 0,
+    RIGHT_ARM,
+    ARM_ID_ERR
+} ArmIdE;
+ 
+
+typedef enum {
+    OK = 0,
+    UNKNOWN_ERR = -1,
+    ARM_NOW_FORCE_MOVING = -2,
+    ARM_COLLISION = -3,
+    ARM_AIM_CANNOT_REACH = -4,
+    ARM_NOW_NO_GOAL = -5,
+    ARM_GOAL_CANCELLED = -6,
+} ErrCodeE;
+
+#endif // ARM_ACTION_DEFINE_H