joint_traj.h

Go to the documentation of this file.

/*
 * Software License Agreement (BSD License)
 *
 * Copyright (c) 2011, Southwest Research Institute
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *      * Redistributions of source code must retain the above copyright
 *      notice, this list of conditions and the following disclaimer.
 *      * Redistributions in binary form must reproduce the above copyright
 *      notice, this list of conditions and the following disclaimer in the
 *      documentation and/or other materials provided with the distribution.
 *      * Neither the name of the Southwest Research Institute, nor the names
 *      of its contributors may be used to endorse or promote products derived
 *      from this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#ifndef JOINT_TRAJ_H
#define JOINT_TRAJ_H

#ifdef ROS
#include "simple_message/simple_message.h"
#include "simple_message/simple_serialize.h"
#include "simple_message/shared_types.h"
#include "simple_message/joint_traj_pt.h"
#endif

#ifdef MOTOPLUS
#include "simple_message.h"
#include "simple_serialize.h"
#include "shared_types.h"
#include "joint_traj_pt.h"
#endif



namespace industrial
{
namespace joint_traj
{

//* JointTraj
class JointTraj : public industrial::simple_serialize::SimpleSerialize
{
public:
        JointTraj(void);
        ~JointTraj(void);

        void init();

        bool addPoint(industrial::joint_traj_pt::JointTrajPt & point);

        bool getPoint(industrial::shared_types::shared_int index,
                        industrial::joint_traj_pt::JointTrajPt & point);
        industrial::shared_types::shared_int size()
        {
                return this->size_;
        }

        bool isFull()
        {
                return this->size_ >= this->getMaxNumPoints();
        }

        int getMaxNumPoints() const
        {
                return MAX_NUM_POINTS;
        }

        void copyFrom(JointTraj &src);

        bool operator==(JointTraj &rhs);

        // Overrides - SimpleSerialize
        bool load(industrial::byte_array::ByteArray *buffer);
        bool unload(industrial::byte_array::ByteArray *buffer);
        unsigned int byteLength()
        {
                industrial::joint_traj_pt::JointTrajPt pt;
                return this->size() * pt.byteLength();
        }

private:

        static const industrial::shared_types::shared_int MAX_NUM_POINTS = 200;
        industrial::joint_traj_pt::JointTrajPt points_[MAX_NUM_POINTS];
        industrial::shared_types::shared_int size_;

};

}
}

#endif /* JOINT_TRAJ_H */