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. 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_FEEDBACK_MESSAGE_H 00033 #define JOINT_FEEDBACK_MESSAGE_H 00034 00035 #ifndef FLATHEADERS 00036 #include "simple_message/typed_message.h" 00037 #include "simple_message/simple_message.h" 00038 #include "simple_message/shared_types.h" 00039 #include "simple_message/joint_feedback.h" 00040 #else 00041 #include "typed_message.h" 00042 #include "simple_message.h" 00043 #include "shared_types.h" 00044 #include "joint_feedback.h" 00045 #endif 00046 00047 namespace industrial 00048 { 00049 namespace joint_feedback_message 00050 { 00051 00052 00065 class JointFeedbackMessage : public industrial::typed_message::TypedMessage 00066 00067 { 00068 public: 00075 JointFeedbackMessage(void); 00080 ~JointFeedbackMessage(void); 00088 bool init(industrial::simple_message::SimpleMessage & msg); 00089 00096 void init(industrial::joint_feedback::JointFeedback & data); 00097 00102 void init(); 00103 00104 // Overrides - SimpleSerialize 00105 bool load(industrial::byte_array::ByteArray *buffer); 00106 bool unload(industrial::byte_array::ByteArray *buffer); 00107 00108 unsigned int byteLength() 00109 { 00110 return this->data_.byteLength(); 00111 } 00112 00113 industrial::shared_types::shared_int getRobotID() 00114 { 00115 return this->data_.getRobotID(); 00116 } 00117 00118 bool getTime(industrial::shared_types::shared_real & time) 00119 { 00120 return this->data_.getTime(time); 00121 } 00122 00123 bool getPositions(industrial::joint_data::JointData &dest) 00124 { 00125 return this->data_.getPositions(dest); 00126 } 00127 00128 bool getVelocities(industrial::joint_data::JointData &dest) 00129 { 00130 return this->data_.getVelocities(dest); 00131 } 00132 00133 bool getAccelerations(industrial::joint_data::JointData &dest) 00134 { 00135 return this->data_.getAccelerations(dest); 00136 } 00137 00138 private: 00139 00140 industrial::joint_feedback::JointFeedback data_; 00141 00142 }; 00143 00144 } 00145 } 00146 00147 #endif /* JOINT_FEEDBACK_MESSAGE_H */