joint_data.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_DATA_H
#define JOINT_DATA_H

#ifdef ROS

#include "simple_message/simple_message.h"
#include "simple_message/simple_serialize.h"
#include "simple_message/shared_types.h"

#endif

#ifdef MOTOPLUS

#include "simple_message.h"
#include "simple_serialize.h"
#include "shared_types.h"

#endif



namespace industrial
{
namespace joint_data
{

//* JointData
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);
  
  industrial::shared_types::shared_real getJoint(industrial::shared_types::shared_int index);
  
  
  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 */