Class encapsulated joint message generation methods (either to or from a SimpleMessage type. This message represents the joint position data. NOTE: In earlier versions this was simply referred to as JOINT message. This caused confusion as there are many types of joint messages (position, velocity, feedback). To remove confusion, this message was changed to JOINT_POSITION. Other types of messages will have to be created for velocity and other feedback. More...
#include <joint_message.h>
Public Member Functions | |
| unsigned int | byteLength () |
| Virtual method returns the object size when packed into a ByteArray. | |
| industrial::joint_data::JointData & | getJoints () |
| returns reference to underlying joint class | |
| industrial::shared_types::shared_int | getSequence () |
| returns the maximum message sequence number | |
| bool | init (industrial::simple_message::SimpleMessage &msg) |
| Initializes message from a simple message. | |
| void | init (industrial::shared_types::shared_int seq, industrial::joint_data::JointData &joints) |
| Initializes message from a joint structure. | |
| void | init () |
| Initializes a new joint message. | |
| JointMessage (void) | |
| Default constructor. | |
| bool | load (industrial::byte_array::ByteArray *buffer) |
| Virtual method for loading an object into a ByteArray. | |
| void | setSequence (industrial::shared_types::shared_int sequence) |
| Sets message sequence number. | |
| bool | unload (industrial::byte_array::ByteArray *buffer) |
| Virtual method for unloading an object from a ByteArray. | |
| ~JointMessage (void) | |
| Destructor. | |
Private Attributes | |
| industrial::joint_data::JointData | joints_ |
| maximum number of joints positions that can be held in the message. | |
| industrial::shared_types::shared_int | sequence_ |
| sequence number (for those joints messages that require it) | |
Detailed Description
Class encapsulated joint message generation methods (either to or from a SimpleMessage type. This message represents the joint position data. NOTE: In earlier versions this was simply referred to as JOINT message. This caused confusion as there are many types of joint messages (position, velocity, feedback). To remove confusion, this message was changed to JOINT_POSITION. Other types of messages will have to be created for velocity and other feedback.
The byte representation of a joint message is as follow (in order lowest index to highest). The standard sizes are given, but can change based on type sizes:
member: type size sequence (industrial::shared_types::shared_int) 4 bytes joints (industrial::joint_data) 40 bytes
THIS CLASS IS NOT THREAD-SAFE
Definition at line 87 of file joint_message.h.
Constructor & Destructor Documentation
Default constructor.
This method creates an empty message.
Definition at line 56 of file joint_message.cpp.
Destructor.
Definition at line 62 of file joint_message.cpp.
Member Function Documentation
| unsigned int industrial::joint_message::JointMessage::byteLength | ( | ) | [inline, virtual] |
Virtual method returns the object size when packed into a ByteArray.
- Returns:
- object size (in bytes)
Implements industrial::simple_serialize::SimpleSerialize.
Definition at line 157 of file joint_message.h.
returns reference to underlying joint class
- Returns:
- reference to joint class
Definition at line 148 of file joint_message.h.
| industrial::shared_types::shared_int industrial::joint_message::JointMessage::getSequence | ( | ) | [inline] |
returns the maximum message sequence number
- Returns:
- message sequence number
Definition at line 138 of file joint_message.h.
| bool industrial::joint_message::JointMessage::init | ( | industrial::simple_message::SimpleMessage & | msg | ) | [virtual] |
Initializes message from a simple message.
- Parameters:
-
simple message to construct from
- Returns:
- true if message successfully initialized, otherwise false
Implements industrial::typed_message::TypedMessage.
Definition at line 67 of file joint_message.cpp.
| void industrial::joint_message::JointMessage::init | ( | industrial::shared_types::shared_int | seq, |
| industrial::joint_data::JointData & | joints | ||
| ) |
Initializes message from a joint structure.
- Parameters:
-
sequence number joints
| void industrial::joint_message::JointMessage::init | ( | ) | [virtual] |
Initializes a new joint message.
Implements industrial::typed_message::TypedMessage.
Definition at line 104 of file joint_message.cpp.
| bool industrial::joint_message::JointMessage::load | ( | industrial::byte_array::ByteArray * | buffer | ) | [virtual] |
Virtual method for loading an object into a ByteArray.
This method should load all the required data to reconstruct the class object into the buffer
- Parameters:
-
buffer pointer to ByteArray
- Returns:
- true on success, false otherwise (buffer not large enough)
Implements industrial::simple_serialize::SimpleSerialize.
Definition at line 110 of file joint_message.cpp.
| void industrial::joint_message::JointMessage::setSequence | ( | industrial::shared_types::shared_int | sequence | ) |
Sets message sequence number.
- Parameters:
-
message sequence number
Definition at line 93 of file joint_message.cpp.
| bool industrial::joint_message::JointMessage::unload | ( | industrial::byte_array::ByteArray * | buffer | ) | [virtual] |
Virtual method for unloading an object from a ByteArray.
This method should unload all the required data to reconstruct the class object (in place)
- Parameters:
-
buffer pointer to ByteArray
- Returns:
- true on success, false otherwise (buffer not large enough)
Implements industrial::simple_serialize::SimpleSerialize.
Definition at line 135 of file joint_message.cpp.
Member Data Documentation
maximum number of joints positions that can be held in the message.
Definition at line 170 of file joint_message.h.
industrial::shared_types::shared_int industrial::joint_message::JointMessage::sequence_ [private] |
sequence number (for those joints messages that require it)
Definition at line 166 of file joint_message.h.
The documentation for this class was generated from the following files: