joint_message.h
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00001 /*
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00004  * Copyright (c) 2011, Southwest Research Institute
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00016  *      of its contributors may be used to endorse or promote products derived
00017  *      from this software without specific prior written permission.
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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_MESSAGE_H
00033 #define JOINT_MESSAGE_H
00034 
00035 #ifdef ROS
00036 #include "simple_message/typed_message.h"
00037 #include "simple_message/simple_message.h"
00038 #include "simple_message/shared_types.h"
00039 #include "simple_message/joint_data.h"
00040 #endif
00041 
00042 #ifdef MOTOPLUS
00043 #include "typed_message.h"
00044 #include "simple_message.h"
00045 #include "shared_types.h"
00046 #include "joint_data.h"
00047 #endif
00048 
00049 namespace industrial
00050 {
00051 namespace joint_message
00052 {
00053 
00058 namespace SpecialSeqValues
00059 {
00060 enum SpecialSeqValue
00061 {
00062   END_TRAJECTORY = -1, STOP_TRAJECTORY = -2
00063 };
00064 }
00065 typedef SpecialSeqValues::SpecialSeqValue SpecialSeqValue;
00066 
00087 class JointMessage : public industrial::typed_message::TypedMessage
00088 {
00089 public:
00096   JointMessage(void);
00101   ~JointMessage(void);
00109   bool init(industrial::simple_message::SimpleMessage & msg);
00110 
00118   void init(industrial::shared_types::shared_int seq, industrial::joint_data::JointData & joints);
00119 
00124   void init();
00125 
00131   void setSequence(industrial::shared_types::shared_int sequence);
00132 
00138   industrial::shared_types::shared_int getSequence()
00139   {
00140     return sequence_;
00141   }
00142 
00148   industrial::joint_data::JointData& getJoints()
00149   {
00150     return this->joints_;
00151   }
00152 
00153   // Overrides - SimpleSerialize
00154   bool load(industrial::byte_array::ByteArray *buffer);
00155   bool unload(industrial::byte_array::ByteArray *buffer);
00156 
00157   unsigned int byteLength()
00158   {
00159     return sizeof(industrial::shared_types::shared_int) + this->joints_.byteLength();
00160   }
00161 
00162 private:
00166   industrial::shared_types::shared_int sequence_;
00170   industrial::joint_data::JointData joints_;
00171 
00172 };
00173 
00174 }
00175 }
00176 
00177 #endif /* JOINT_MESSAGE_H */


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