joint_data.h
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00001 /*
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00004  * Copyright (c) 2011, Southwest Research Institute
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00013  *      notice, this list of conditions and the following disclaimer in the
00014  *      documentation and/or other materials provided with the distribution.
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00019  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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00031 
00032 #ifndef JOINT_DATA_H
00033 #define JOINT_DATA_H
00034 
00035 #ifdef ROS
00036 
00037 #include "simple_message/simple_message.h"
00038 #include "simple_message/simple_serialize.h"
00039 #include "simple_message/shared_types.h"
00040 
00041 #endif
00042 
00043 #ifdef MOTOPLUS
00044 
00045 #include "simple_message.h"
00046 #include "simple_serialize.h"
00047 #include "shared_types.h"
00048 
00049 #endif
00050 
00051 namespace industrial
00052 {
00053 namespace joint_data
00054 {
00055 
00074 class JointData : public industrial::simple_serialize::SimpleSerialize
00075 {
00076 public:
00083   JointData(void);
00088   ~JointData(void);
00089 
00094   void init();
00095 
00104   bool setJoint(industrial::shared_types::shared_int index, industrial::shared_types::shared_real value);
00105 
00114   bool getJoint(industrial::shared_types::shared_int index, industrial::shared_types::shared_real & value);
00115 
00124   industrial::shared_types::shared_real getJoint(industrial::shared_types::shared_int index);
00125 
00131   void copyFrom(JointData &src);
00132 
00138   int getMaxNumJoints() const
00139   {
00140     return MAX_NUM_JOINTS;
00141   }
00142 
00148   bool operator==(JointData &rhs);
00149 
00150   // Overrides - SimpleSerialize
00151   bool load(industrial::byte_array::ByteArray *buffer);
00152   bool unload(industrial::byte_array::ByteArray *buffer);
00153   unsigned int byteLength()
00154   {
00155     return MAX_NUM_JOINTS * sizeof(industrial::shared_types::shared_real);
00156   }
00157 
00158 private:
00159 
00163   static const industrial::shared_types::shared_int MAX_NUM_JOINTS = 10;
00167   industrial::shared_types::shared_real joints_[MAX_NUM_JOINTS];
00168 
00169 };
00170 
00171 }
00172 }
00173 
00174 #endif /* JOINT_DATA_H */


dx100
Author(s): Shaun Edwards (Southwest Research Institute)
autogenerated on Mon Oct 6 2014 02:25:33