joint_data.h

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#ifndef JOINT_DATA_H
#define JOINT_DATA_H
 
#ifndef FLATHEADERS
#include "simple_message/simple_message.h"
#include "simple_message/simple_serialize.h"
#include "simple_message/shared_types.h"
#else
#include "simple_message.h"
#include "simple_serialize.h"
#include "shared_types.h"
#endif
 
namespace industrial
{
namespace joint_data
{
 
class JointData : public industrial::simple_serialize::SimpleSerialize
{
public:
  JointData(void);
  ~JointData(void);
 
  void init();
 
  bool setJoint(industrial::shared_types::shared_int index, industrial::shared_types::shared_real value);
 
  bool getJoint(industrial::shared_types::shared_int index, industrial::shared_types::shared_real & value) const;
 
  industrial::shared_types::shared_real getJoint(industrial::shared_types::shared_int index) const;
 
  void copyFrom(JointData &src);
 
  int getMaxNumJoints() const
  {
    return MAX_NUM_JOINTS;
  }
 
  bool operator==(JointData &rhs);
 
  // Overrides - SimpleSerialize
  bool load(industrial::byte_array::ByteArray *buffer);
  bool unload(industrial::byte_array::ByteArray *buffer);
  unsigned int byteLength()
  {
    return MAX_NUM_JOINTS * sizeof(industrial::shared_types::shared_real);
  }
 
private:
 
  static const industrial::shared_types::shared_int MAX_NUM_JOINTS = 10;
  industrial::shared_types::shared_real joints_[MAX_NUM_JOINTS];
 
};
 
}
}
 
#endif /* JOINT_DATA_H */