Class encapsulated motion control data. These control messages are required to download command-trajectories to the FS100 controller. Trajectory data is provided in a separate JointTrajPtFull message. These control commands are motoman-specific. More...
#include <motoman_motion_ctrl.h>
Public Member Functions | |
| unsigned int | byteLength () |
| void | clearData () |
| Clears command data. | |
| void | copyFrom (MotionCtrl &src) |
| Copies the passed in value. | |
| MotionControlCmd | getCommand () |
| Returns motion control command. | |
| industrial::shared_types::shared_real | getData (size_t idx) |
| Returns command data. | |
| industrial::shared_types::shared_int | getRobotID () |
| Returns target robot/group # for this command. | |
| industrial::shared_types::shared_int | getSequence () |
| Returns control command's sequence number. | |
| void | init () |
| Initializes a empty motion control command. | |
| void | init (industrial::shared_types::shared_int robot_id, industrial::shared_types::shared_int sequence, MotionControlCmd command, industrial::shared_types::shared_real data) |
| Initializes a complete motion control command. | |
| bool | load (industrial::byte_array::ByteArray *buffer) |
| MotionCtrl (void) | |
| Default constructor. | |
| bool | operator== (MotionCtrl &rhs) |
| == operator implementation | |
| void | setCommand (MotionControlCmd command) |
| Sets motion control command. | |
| void | setData (size_t idx, industrial::shared_types::shared_real val) |
| Sets command data. | |
| void | setRobotID (industrial::shared_types::shared_int robot_id) |
| Sets robot_id. | |
| void | setSequence (industrial::shared_types::shared_int sequence) |
| Sets control command's sequence number. | |
| bool | unload (industrial::byte_array::ByteArray *buffer) |
| ~MotionCtrl (void) | |
| Destructor. | |
Private Attributes | |
| industrial::shared_types::shared_int | command_ |
| Motion-control command. | |
| industrial::shared_types::shared_real | data_ [MAX_DATA_CNT] |
| Motion-control command data Contents of data-buffer are specific to each command. | |
| industrial::shared_types::shared_int | robot_id_ |
| Robot/group ID. 0 = 1st robot. | |
| industrial::shared_types::shared_int | sequence_ |
| Message-tracking number that will be echoed back in reply message. | |
Static Private Attributes | |
| static const size_t | MAX_DATA_CNT = 10 |
| Maximum length (# of float elements) of data buffer. | |
Class encapsulated motion control data. These control messages are required to download command-trajectories to the FS100 controller. Trajectory data is provided in a separate JointTrajPtFull message. These control commands are motoman-specific.
The byte representation of a motion control command is as follows (in order lowest index to highest). The standard sizes are given, but can change based on type sizes:
member: type size robot_id (industrial::shared_types::shared_int) 4 bytes sequence (industrial::shared_types::shared_int) 4 bytes command (industrial::shared_types::shared_int) 4 bytes data[10] (industrial::shared_types::shared_real) 40 bytes
THIS CLASS IS NOT THREAD-SAFE
Definition at line 92 of file motoman_motion_ctrl.h.
Default constructor.
This method creates empty data.
Definition at line 52 of file motoman_motion_ctrl.cpp.
Destructor.
Definition at line 56 of file motoman_motion_ctrl.cpp.
| unsigned int motoman::simple_message::motion_ctrl::MotionCtrl::byteLength | ( | ) | [inline, virtual] |
Implements industrial::simple_serialize::SimpleSerialize.
Definition at line 245 of file motoman_motion_ctrl.h.
| void motoman::simple_message::motion_ctrl::MotionCtrl::clearData | ( | ) | [inline] |
Clears command data.
Definition at line 186 of file motoman_motion_ctrl.h.
Copies the passed in value.
| src | (value to copy) |
Definition at line 76 of file motoman_motion_ctrl.cpp.
Returns motion control command.
Definition at line 178 of file motoman_motion_ctrl.h.
| industrial::shared_types::shared_real motoman::simple_message::motion_ctrl::MotionCtrl::getData | ( | size_t | idx | ) | [inline] |
Returns command data.
| idx | data-index to get |
Definition at line 213 of file motoman_motion_ctrl.h.
| industrial::shared_types::shared_int motoman::simple_message::motion_ctrl::MotionCtrl::getRobotID | ( | ) | [inline] |
Returns target robot/group # for this command.
Definition at line 138 of file motoman_motion_ctrl.h.
| industrial::shared_types::shared_int motoman::simple_message::motion_ctrl::MotionCtrl::getSequence | ( | ) | [inline] |
Returns control command's sequence number.
Definition at line 158 of file motoman_motion_ctrl.h.
Initializes a empty motion control command.
Definition at line 61 of file motoman_motion_ctrl.cpp.
| void motoman::simple_message::motion_ctrl::MotionCtrl::init | ( | industrial::shared_types::shared_int | robot_id, |
| industrial::shared_types::shared_int | sequence, | ||
| MotionControlCmd | command, | ||
| industrial::shared_types::shared_real | data | ||
| ) |
Initializes a complete motion control command.
Definition at line 66 of file motoman_motion_ctrl.cpp.
| bool motoman::simple_message::motion_ctrl::MotionCtrl::load | ( | industrial::byte_array::ByteArray * | buffer | ) | [virtual] |
Implements industrial::simple_serialize::SimpleSerialize.
Definition at line 97 of file motoman_motion_ctrl.cpp.
| bool motoman::simple_message::motion_ctrl::MotionCtrl::operator== | ( | MotionCtrl & | rhs | ) |
== operator implementation
Definition at line 85 of file motoman_motion_ctrl.cpp.
| void motoman::simple_message::motion_ctrl::MotionCtrl::setCommand | ( | MotionControlCmd | command | ) | [inline] |
Sets motion control command.
| command | motion-control command value |
Definition at line 168 of file motoman_motion_ctrl.h.
| void motoman::simple_message::motion_ctrl::MotionCtrl::setData | ( | size_t | idx, |
| industrial::shared_types::shared_real | val | ||
| ) | [inline] |
Sets command data.
| idx | index to set |
| val | data value |
Definition at line 198 of file motoman_motion_ctrl.h.
| void motoman::simple_message::motion_ctrl::MotionCtrl::setRobotID | ( | industrial::shared_types::shared_int | robot_id | ) | [inline] |
Sets robot_id.
| robot_id | target robot/group # for this command |
Definition at line 128 of file motoman_motion_ctrl.h.
| void motoman::simple_message::motion_ctrl::MotionCtrl::setSequence | ( | industrial::shared_types::shared_int | sequence | ) | [inline] |
Sets control command's sequence number.
| sequence | value |
Definition at line 148 of file motoman_motion_ctrl.h.
| bool motoman::simple_message::motion_ctrl::MotionCtrl::unload | ( | industrial::byte_array::ByteArray * | buffer | ) | [virtual] |
Implements industrial::simple_serialize::SimpleSerialize.
Definition at line 133 of file motoman_motion_ctrl.cpp.
industrial::shared_types::shared_int motoman::simple_message::motion_ctrl::MotionCtrl::command_ [private] |
Motion-control command.
Definition at line 267 of file motoman_motion_ctrl.h.
industrial::shared_types::shared_real motoman::simple_message::motion_ctrl::MotionCtrl::data_[MAX_DATA_CNT] [private] |
Motion-control command data Contents of data-buffer are specific to each command.
Definition at line 278 of file motoman_motion_ctrl.h.
const size_t motoman::simple_message::motion_ctrl::MotionCtrl::MAX_DATA_CNT = 10 [static, private] |
Maximum length (# of float elements) of data buffer.
Definition at line 272 of file motoman_motion_ctrl.h.
industrial::shared_types::shared_int motoman::simple_message::motion_ctrl::MotionCtrl::robot_id_ [private] |
Robot/group ID. 0 = 1st robot.
Definition at line 257 of file motoman_motion_ctrl.h.
industrial::shared_types::shared_int motoman::simple_message::motion_ctrl::MotionCtrl::sequence_ [private] |
Message-tracking number that will be echoed back in reply message.
Definition at line 262 of file motoman_motion_ctrl.h.
