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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2011, Southwest Research Institute 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions are met: 00009 * 00010 * * Redistributions of source code must retain the above copyright 00011 * notice, this list of conditions and the following disclaimer. 00012 * * Redistributions in binary form must reproduce the above copyright 00013 * notice, this list of conditions and the following disclaimer in the 00014 * documentation and/or other materials provided with the distribution. 00015 * * Neither the name of the Southwest Research Institute, nor the names 00016 * of its contributors may be used to endorse or promote products derived 00017 * from this software without specific prior written permission. 00018 * 00019 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00020 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00021 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00022 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00023 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00024 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00025 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00026 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00027 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00028 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00029 * POSSIBILITY OF SUCH DAMAGE. 00030 */ 00031 00032 #ifndef JOINT_TRAJ_H 00033 #define JOINT_TRAJ_H 00034 00035 #ifdef ROS 00036 #include "simple_message/simple_message.h" 00037 #include "simple_message/simple_serialize.h" 00038 #include "simple_message/shared_types.h" 00039 #include "simple_message/joint_traj_pt.h" 00040 #endif 00041 00042 #ifdef MOTOPLUS 00043 #include "simple_message.h" 00044 #include "simple_serialize.h" 00045 #include "shared_types.h" 00046 #include "joint_traj_pt.h" 00047 #endif 00048 00049 00050 00051 namespace industrial 00052 { 00053 namespace joint_traj 00054 { 00055 00062 //* JointTraj 00069 class JointTraj : public industrial::simple_serialize::SimpleSerialize 00070 { 00071 public: 00078 JointTraj(void); 00083 ~JointTraj(void); 00084 00089 void init(); 00090 00098 bool addPoint(industrial::joint_traj_pt::JointTrajPt & point); 00099 00108 bool getPoint(industrial::shared_types::shared_int index, 00109 industrial::joint_traj_pt::JointTrajPt & point); 00115 industrial::shared_types::shared_int size() 00116 { 00117 return this->size_; 00118 } 00119 00125 bool isFull() 00126 { 00127 return this->size_ >= this->getMaxNumPoints(); 00128 } 00129 00135 int getMaxNumPoints() const 00136 { 00137 return MAX_NUM_POINTS; 00138 } 00139 00145 void copyFrom(JointTraj &src); 00146 00152 bool operator==(JointTraj &rhs); 00153 00154 // Overrides - SimpleSerialize 00155 bool load(industrial::byte_array::ByteArray *buffer); 00156 bool unload(industrial::byte_array::ByteArray *buffer); 00157 unsigned int byteLength() 00158 { 00159 industrial::joint_traj_pt::JointTrajPt pt; 00160 return this->size() * pt.byteLength(); 00161 } 00162 00163 private: 00164 00168 static const industrial::shared_types::shared_int MAX_NUM_POINTS = 200; 00172 industrial::joint_traj_pt::JointTrajPt points_[MAX_NUM_POINTS]; 00176 industrial::shared_types::shared_int size_; 00177 00178 }; 00179 00180 } 00181 } 00182 00183 #endif /* JOINT_TRAJ_H */