motoman_motion_ctrl_message.h
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00001 /*
00002  * Software License Agreement (BSD License)
00003  *
00004  * Copyright (c) 2013, 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.
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00019  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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00031 
00032 #ifndef MOTOMAN_MOTION_CTRL_MESSAGE_H
00033 #define MOTOMAN_MOTION_CTRL_MESSAGE_H
00034 
00035 #ifdef ROS
00036 #include "simple_message/typed_message.h"
00037 #include "simple_message/shared_types.h"
00038 #include "fs100/simple_message/motoman_simple_message.h"
00039 #include "fs100/simple_message/motoman_motion_ctrl.h"
00040 
00041 #endif
00042 
00043 #ifdef MOTOPLUS
00044 #include "typed_message.h"
00045 #include "shared_types.h"
00046 #include "motoman_simple_message.h"
00047 #include "motoman_motion_ctrl.h"
00048 
00049 #endif
00050 
00051 namespace motoman
00052 {
00053 namespace simple_message
00054 {
00055 namespace motion_ctrl_message
00056 {
00057 
00058 
00072 class MotionCtrlMessage : public industrial::typed_message::TypedMessage
00073 
00074 {
00075 public:
00082   MotionCtrlMessage(void);
00087   ~MotionCtrlMessage(void);
00095   bool init(industrial::simple_message::SimpleMessage & msg);
00096 
00103   void init(motoman::simple_message::motion_ctrl::MotionCtrl & cmd);
00104 
00109   void init();
00110 
00111   // Overrides - SimpleSerialize
00112   bool load(industrial::byte_array::ByteArray *buffer);
00113   bool unload(industrial::byte_array::ByteArray *buffer);
00114 
00115   unsigned int byteLength()
00116   {
00117     return this->cmd_.byteLength();
00118   }
00119 
00120   motoman::simple_message::motion_ctrl::MotionCtrl cmd_;
00121 
00122 private:
00123 
00124 
00125 };
00126 
00127 }
00128 }
00129 }
00130 
00131 #endif /* MOTOMAN_MOTION_CTRL_MESSAGE_H */
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fs100
Author(s): Jeremy Zoss (Southwest Research Institute)
autogenerated on Mon May 27 2013 19:43:14