Class encapsulated joint message generation methods (either to or from a SimpleMessage type. More...

#include <joint_message.h>

Inheritance diagram for industrial::joint_message::JointMessage:

Public Member Functions
unsigned int	byteLength ()
	Virtual method returns the object size when packed into a ByteArray.
industrial::joint_data::JointData &	getJoints ()
	returns reference to underlying joint class
industrial::shared_types::shared_int	getSequence ()
	returns the maximum message sequence number
bool	init (industrial::simple_message::SimpleMessage &msg)
	Initializes message from a simple message.
void	init (industrial::shared_types::shared_int seq, industrial::joint_data::JointData &joints)
	Initializes message from a joint structure.
void	init ()
	Initializes a new joint message.
	JointMessage (void)
	Default constructor.
bool	load (industrial::byte_array::ByteArray *buffer)
	Virtual method for loading an object into a ByteArray.
void	setSequence (industrial::shared_types::shared_int sequence)
	Sets message sequence number.
bool	unload (industrial::byte_array::ByteArray *buffer)
	Virtual method for unloading an object from a ByteArray.
	~JointMessage (void)
	Destructor.
Private Attributes
industrial::joint_data::JointData	joints_
	maximum number of joints positions that can be held in the message.
industrial::shared_types::shared_int	sequence_
	sequence number (for those joints messages that require it)

Detailed Description

Class encapsulated joint message generation methods (either to or from a SimpleMessage type.

The JOINT message structure is meant to contain joint position information either related to a trajectory point or a joint feedback message. The data structure is as follow:

int SEQ_NUM identifies the order within a trajectory sequence (not valid for feedback) real JOINTS[MAX_NUM_JOINTS] joint values. The number of joints are fixed and assumed to be in a known order (defined both by the order in ROS and the order as defined by the robot.

THIS CLASS IS NOT THREAD-SAFE

Definition at line 91 of file joint_message.h.

Constructor & Destructor Documentation

industrial::joint_message::JointMessage::JointMessage ( void )

Default constructor.

This method creates an empty message.

Definition at line 56 of file joint_message.cpp.

industrial::joint_message::JointMessage::~JointMessage ( void )

Destructor.

Definition at line 62 of file joint_message.cpp.

Member Function Documentation

unsigned int industrial::joint_message::JointMessage::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 162 of file joint_message.h.

industrial::joint_data::JointData& industrial::joint_message::JointMessage::getJoints ( ) [inline]

returns reference to underlying joint class

Returns:: reference to joint class

Definition at line 152 of file joint_message.h.

industrial::shared_types::shared_int industrial::joint_message::JointMessage::getSequence ( ) [inline]

returns the maximum message sequence number

Returns:: message sequence number

Definition at line 142 of file joint_message.h.

bool industrial::joint_message::JointMessage::init ( industrial::simple_message::SimpleMessage & msg ) [virtual]

Initializes message from a simple message.

Parameters:

simple message to construct from

Returns:: true if message successfully initialized, otherwise false

Implements industrial::typed_message::TypedMessage.

Definition at line 67 of file joint_message.cpp.

void industrial::joint_message::JointMessage::init	(	industrial::shared_types::shared_int	seq,
		industrial::joint_data::JointData &	joints
	)

Initializes message from a joint structure.

Parameters:

sequence	number
joints

void industrial::joint_message::JointMessage::init ( ) [virtual]

Initializes a new joint message.

Implements industrial::typed_message::TypedMessage.

Definition at line 104 of file joint_message.cpp.

bool industrial::joint_message::JointMessage::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 110 of file joint_message.cpp.

void industrial::joint_message::JointMessage::setSequence ( industrial::shared_types::shared_int sequence )

Sets message sequence number.

Parameters:

message sequence number

Definition at line 93 of file joint_message.cpp.

bool industrial::joint_message::JointMessage::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 135 of file joint_message.cpp.

Member Data Documentation

industrial::joint_data::JointData industrial::joint_message::JointMessage::joints_ [private]

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

Definition at line 175 of file joint_message.h.

industrial::shared_types::shared_int industrial::joint_message::JointMessage::sequence_ [private]

sequence number (for those joints messages that require it)

Definition at line 171 of file joint_message.h.

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

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation