industrial::joint_data::JointData Class Reference

Class encapsulated joint data (positions, accelerations, velocity, torque, and/or effort). For simplicity and cross platform compliance, this is implemented as a fixed size array. More...

#include <joint_data.h>

Inheritance diagram for industrial::joint_data::JointData:

[legend]

List of all members.

Public Member Functions
unsigned int	byteLength ()
	Virtual method returns the object size when packed into a ByteArray.
void	copyFrom (JointData &src)
	Copies the passed in value.
industrial::shared_types::shared_real	getJoint (industrial::shared_types::shared_int index)
	Gets a joint value within the buffer (Only use this form if you are sure the index is within bounds).
bool	getJoint (industrial::shared_types::shared_int index, industrial::shared_types::shared_real &value)
	Gets a joint value within the buffer.
int	getMaxNumJoints () const
	returns the maximum number of joints the message holds
void	init ()
	Initializes a empty joint data.
	JointData (void)
	Default constructor.
bool	load (industrial::byte_array::ByteArray *buffer)
	Virtual method for loading an object into a ByteArray.
bool	operator== (JointData &rhs)
	== operator implementation
bool	setJoint (industrial::shared_types::shared_int index, industrial::shared_types::shared_real value)
	Sets a joint value within the buffer.
bool	unload (industrial::byte_array::ByteArray *buffer)
	Virtual method for unloading an object from a ByteArray.
	~JointData (void)
	Destructor.
Private Attributes
industrial::shared_types::shared_real	joints_ [MAX_NUM_JOINTS]
	internal data buffer
Static Private Attributes
static const industrial::shared_types::shared_int	MAX_NUM_JOINTS = 10
	maximum number of joints positions that can be held in the message.

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Detailed Description

Class encapsulated joint data (positions, accelerations, velocity, torque, and/or effort). For simplicity and cross platform compliance, this is implemented as a fixed size array.

THIS CLASS IS NOT THREAD-SAFE

Definition at line 71 of file joint_data.h.

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Constructor & Destructor Documentation

industrial::joint_data::JointData::JointData

(

void

)

Default constructor.

This method creates empty data.

Definition at line 50 of file joint_data.cpp.

industrial::joint_data::JointData::~JointData

(

void

)

Destructor.

Definition at line 54 of file joint_data.cpp.

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Member Function Documentation

unsigned int industrial::joint_data::JointData::byteLength

(

)

[inline, virtual]

Virtual method returns the object size when packed into a ByteArray.

Returns:

object size (in bytes)

Implements industrial::simple_serialize::SimpleSerialize.

Definition at line 151 of file joint_data.h.

void industrial::joint_data::JointData::copyFrom

(

JointData &

src

)

Copies the passed in value.

Parameters:

src

(value to copy)

Definition at line 109 of file joint_data.cpp.

industrial::shared_types::shared_real industrial::joint_data::JointData::getJoint

(

industrial::shared_types::shared_int

index

)

Gets a joint value within the buffer (Only use this form if you are sure the index is within bounds).

Parameters:

joint

index

Returns:

joint value (returns 0.0 if index is out of bounds)

bool industrial::joint_data::JointData::getJoint	(	industrial::shared_types::shared_int	index,
		industrial::shared_types::shared_real &	value
	)

Gets a joint value within the buffer.

Parameters:

	joint	index
	joint	value (passed by reference)

Returns:

true if value valid, otherwise false (index greater than max)

int industrial::joint_data::JointData::getMaxNumJoints

(

)

const [inline]

returns the maximum number of joints the message holds

Returns:

max number of joints

Definition at line 136 of file joint_data.h.

void industrial::joint_data::JointData::init

(

)

Initializes a empty joint data.

Definition at line 59 of file joint_data.cpp.

bool industrial::joint_data::JointData::load

(

industrial::byte_array::ByteArray *

buffer

)

[virtual]

Virtual method for loading an object into a ByteArray.

This method should load all the required data to reconstruct the class object into the buffer

Parameters:

buffer

pointer to ByteArray

Returns:

true on success, false otherwise (buffer not large enough)

Implements industrial::simple_serialize::SimpleSerialize.

Definition at line 140 of file joint_data.cpp.

bool industrial::joint_data::JointData::operator==

(

JointData &

rhs

)

== operator implementation

Returns:

true if equal

Definition at line 120 of file joint_data.cpp.

bool industrial::joint_data::JointData::setJoint	(	industrial::shared_types::shared_int	index,
		industrial::shared_types::shared_real	value
	)

Sets a joint value within the buffer.

Parameters:

	joint	index
	joint	value

Returns:

true if value set, otherwise false (index greater than max)

bool industrial::joint_data::JointData::unload

(

industrial::byte_array::ByteArray *

buffer

)

[virtual]

Virtual method for unloading an object from a ByteArray.

This method should unload all the required data to reconstruct the class object (in place)

Parameters:

buffer

pointer to ByteArray

Returns:

true on success, false otherwise (buffer not large enough)

Implements industrial::simple_serialize::SimpleSerialize.

Definition at line 159 of file joint_data.cpp.

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Member Data Documentation

industrial::shared_types::shared_real industrial::joint_data::JointData::joints_[MAX_NUM_JOINTS] [private]

internal data buffer

Definition at line 165 of file joint_data.h.

const industrial::shared_types::shared_int industrial::joint_data::JointData::MAX_NUM_JOINTS = 10 [static, private]

maximum number of joints positions that can be held in the message.

Definition at line 161 of file joint_data.h.

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The documentation for this class was generated from the following files:

• joint_data.h
• joint_data.cpp