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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
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