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_PT_H 00033 #define JOINT_TRAJ_PT_H 00034 00035 #ifdef ROS 00036 #include "simple_message/joint_data.h" 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 #include "joint_data.h" 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_traj_pt 00054 { 00055 00056 namespace SpecialSeqValues 00057 { 00058 enum SpecialSeqValue 00059 { 00060 START_TRAJECTORY_DOWNLOAD = -1, START_TRAJECOTRY_STREAMING = -2, END_TRAJECTORY = -3, STOP_TRAJECTORY = -4 00061 }; 00062 } 00063 typedef SpecialSeqValues::SpecialSeqValue SpecialSeqValue; 00064 00092 class JointTrajPt : public industrial::simple_serialize::SimpleSerialize 00093 { 00094 public: 00101 JointTrajPt(void); 00106 ~JointTrajPt(void); 00107 00112 void init(); 00113 00118 void init(industrial::shared_types::shared_int sequence, industrial::joint_data::JointData & position, 00119 industrial::shared_types::shared_real velocity, industrial::shared_types::shared_real duration); 00120 00126 void setJointPosition(industrial::joint_data::JointData &position) 00127 { 00128 this->joint_position_.copyFrom(position); 00129 } 00130 00136 void getJointPosition(industrial::joint_data::JointData &dest) 00137 { 00138 dest.copyFrom(this->joint_position_); 00139 } 00140 00146 void setSequence(industrial::shared_types::shared_int sequence) 00147 { 00148 this->sequence_ = sequence; 00149 } 00150 00156 industrial::shared_types::shared_int getSequence() 00157 { 00158 return this->sequence_; 00159 } 00160 00166 void setVelocity(industrial::shared_types::shared_real velocity) 00167 { 00168 this->velocity_ = velocity; 00169 } 00170 00176 industrial::shared_types::shared_real getVelocity() 00177 { 00178 return this->velocity_; 00179 } 00180 00186 void setDuration(industrial::shared_types::shared_real duration) 00187 { 00188 this->duration_ = duration; 00189 } 00190 00196 industrial::shared_types::shared_real getDuration() 00197 { 00198 return this->duration_; 00199 } 00200 00206 void copyFrom(JointTrajPt &src); 00207 00213 bool operator==(JointTrajPt &rhs); 00214 00215 // Overrides - SimpleSerialize 00216 bool load(industrial::byte_array::ByteArray *buffer); 00217 bool unload(industrial::byte_array::ByteArray *buffer); 00218 unsigned int byteLength() 00219 { 00220 return sizeof(industrial::shared_types::shared_real) + sizeof(industrial::shared_types::shared_int) 00221 + this->joint_position_.byteLength(); 00222 } 00223 00224 private: 00225 00229 industrial::joint_data::JointData joint_position_; 00233 industrial::shared_types::shared_real velocity_; 00237 industrial::shared_types::shared_int sequence_; 00238 00242 industrial::shared_types::shared_real duration_; 00243 00244 }; 00245 00246 } 00247 } 00248 00249 #endif /* JOINT_TRAJ_PT_H */