00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2011, Southwest Research Institute 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions are met: 00009 * 00010 * * Redistributions of source code must retain the above copyright 00011 * notice, this list of conditions and the following disclaimer. 00012 * * Redistributions in binary form must reproduce the above copyright 00013 * notice, this list of conditions and the following disclaimer in the 00014 * documentation and/or other materials provided with the distribution. 00015 * * Neither the name of the Southwest Research Institute, nor the names 00016 * of its contributors may be used to endorse or promote products derived 00017 * from this software without specific prior written permission. 00018 * 00019 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00020 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00021 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00022 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00023 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00024 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00025 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00026 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00027 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00028 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00029 * POSSIBILITY OF SUCH DAMAGE. 00030 */ 00031 00032 #ifndef JOINT_TRAJ_H 00033 #define JOINT_TRAJ_H 00034 00035 #ifdef ROS 00036 #include "simple_message/simple_message.h" 00037 #include "simple_message/simple_serialize.h" 00038 #include "simple_message/shared_types.h" 00039 #include "simple_message/joint_traj_pt.h" 00040 #endif 00041 00042 #ifdef MOTOPLUS 00043 #include "simple_message.h" 00044 #include "simple_serialize.h" 00045 #include "shared_types.h" 00046 #include "joint_traj_pt.h" 00047 #endif 00048 00049 00050 00051 namespace industrial 00052 { 00053 namespace joint_traj 00054 { 00055 00065 //* JointTraj 00072 class JointTraj : public industrial::simple_serialize::SimpleSerialize 00073 { 00074 public: 00081 JointTraj(void); 00086 ~JointTraj(void); 00087 00092 void init(); 00093 00101 bool addPoint(industrial::joint_traj_pt::JointTrajPt & point); 00102 00111 bool getPoint(industrial::shared_types::shared_int index, 00112 industrial::joint_traj_pt::JointTrajPt & point); 00118 industrial::shared_types::shared_int size() 00119 { 00120 return this->size_; 00121 } 00122 00128 bool isFull() 00129 { 00130 return this->size_ >= this->getMaxNumPoints(); 00131 } 00132 00138 int getMaxNumPoints() const 00139 { 00140 return MAX_NUM_POINTS; 00141 } 00142 00148 void copyFrom(JointTraj &src); 00149 00155 bool operator==(JointTraj &rhs); 00156 00157 // Overrides - SimpleSerialize 00158 bool load(industrial::byte_array::ByteArray *buffer); 00159 bool unload(industrial::byte_array::ByteArray *buffer); 00160 unsigned int byteLength() 00161 { 00162 industrial::joint_traj_pt::JointTrajPt pt; 00163 return this->size() * pt.byteLength(); 00164 } 00165 00166 private: 00167 00171 static const industrial::shared_types::shared_int MAX_NUM_POINTS = 200; 00175 industrial::joint_traj_pt::JointTrajPt points_[MAX_NUM_POINTS]; 00179 industrial::shared_types::shared_int size_; 00180 00181 }; 00182 00183 } 00184 } 00185 00186 #endif /* JOINT_TRAJ_H */