Class encapsulated joint trajectory point data. The point data serves as a waypoint along a trajectory and is meant to mirror the JointTrajectoryPoint message. More...

#include <joint_traj_pt_full_ex.h>

Inheritance diagram for industrial::joint_traj_pt_full_ex::JointTrajPtFullEx:

[legend]

List of all members.

Public Member Functions
unsigned int	byteLength ()
void	copyFrom (JointTrajPtFullEx &src)
	Copies the passed in value.
industrial::shared_types::shared_int	getMaxGroups ()
	Returns joint trajectory point maximum number of groups.
industrial::shared_types::shared_int	getNumGroups ()
	Sets groups_number_ Numbers of group, this sets the amount of control groups connected to the controller.
industrial::shared_types::shared_int	getSequence ()
	Returns joint trajectory point sequence number.
void	init ()
	Initializes a empty joint trajectory group.
void	init (industrial::shared_types::shared_int num_groups, industrial::shared_types::shared_int sequence, std::vector< industrial::joint_traj_pt_full::JointTrajPtFull > joint_trajectory_points)
	Initializes a complete trajectory group.
	JointTrajPtFullEx (void)
	Default constructor.
bool	load (industrial::byte_array::ByteArray *buffer)
bool	operator== (JointTrajPtFullEx &rhs)
	== operator implementation
void	setMultiJointTrajPtData (std::vector< industrial::joint_traj_pt_full::JointTrajPtFull > joint_trajectory_points)
void	setNumGroups (industrial::shared_types::shared_int num_groups)
	Sets num_groups Number of groups attached to the controller.
void	setSequence (industrial::shared_types::shared_int sequence)
	Sets joint trajectory point sequence number.
bool	unload (industrial::byte_array::ByteArray *buffer)
	~JointTrajPtFullEx (void)
	Destructor.
Private Attributes
industrial::joint_traj_pt_full::JointTrajPtFull	joint_traj_full_sample_
std::vector < industrial::joint_traj_pt_full::JointTrajPtFull >	joint_trajectory_points_
industrial::shared_types::shared_int	num_groups_
	number of groups for controllers that support multiple axis-groups
industrial::shared_types::shared_int	sequence_
	trajectory sequence number
industrial::shared_types::shared_int	valid_fields_from_message_
Static Private Attributes
static const industrial::shared_types::shared_int	MAX_NUM_GROUPS = 4

Detailed Description

Class encapsulated joint trajectory point data. The point data serves as a waypoint along a trajectory and is meant to mirror the JointTrajectoryPoint message.

This class is similar to the simple_message joint_traj_pt class, but this class provides the full message contents directly to the robot controller, rather than simplifying the velocity duration.

The message data-packet byte representation is as follows (ordered lowest index to highest). The standard sizes are given, but can change based on type sizes:

member: type size num_groups (industrial::shared_types::shared_int) 4 bytes sequence (industrial::shared_types::shared_int) 4 bytes multiJointTrajData JointTrajPtData[]

THIS CLASS IS NOT THREAD-SAFE

Definition at line 86 of file joint_traj_pt_full_ex.h.

Constructor & Destructor Documentation

industrial::joint_traj_pt_full_ex::JointTrajPtFullEx::JointTrajPtFullEx ( void )

Default constructor.

This method creates empty data.

Definition at line 56 of file joint_traj_pt_full_ex.cpp.

industrial::joint_traj_pt_full_ex::JointTrajPtFullEx::~JointTrajPtFullEx ( void )

Destructor.

Definition at line 60 of file joint_traj_pt_full_ex.cpp.

Member Function Documentation

unsigned int industrial::joint_traj_pt_full_ex::JointTrajPtFullEx::byteLength ( ) [inline, virtual]

Implements industrial::simple_serialize::SimpleSerialize.

Definition at line 194 of file joint_traj_pt_full_ex.h.

void industrial::joint_traj_pt_full_ex::JointTrajPtFullEx::copyFrom ( JointTrajPtFullEx & src )

Copies the passed in value.

Parameters:

src	(value to copy)

Definition at line 88 of file joint_traj_pt_full_ex.cpp.

industrial::shared_types::shared_int industrial::joint_traj_pt_full_ex::JointTrajPtFullEx::getMaxGroups ( ) [inline]

Returns joint trajectory point maximum number of groups.

Returns:: joint trajectory maximum number of groups

Definition at line 160 of file joint_traj_pt_full_ex.h.

industrial::shared_types::shared_int industrial::joint_traj_pt_full_ex::JointTrajPtFullEx::getNumGroups ( ) [inline]

Sets groups_number_ Numbers of group, this sets the amount of control groups connected to the controller.

Parameters:

groups_number new groups_number value

Definition at line 134 of file joint_traj_pt_full_ex.h.

industrial::shared_types::shared_int industrial::joint_traj_pt_full_ex::JointTrajPtFullEx::getSequence ( ) [inline]

Returns joint trajectory point sequence number.

Returns:: joint trajectory sequence number

Definition at line 171 of file joint_traj_pt_full_ex.h.

void industrial::joint_traj_pt_full_ex::JointTrajPtFullEx::init ( )

Initializes a empty joint trajectory group.

Definition at line 64 of file joint_traj_pt_full_ex.cpp.

void industrial::joint_traj_pt_full_ex::JointTrajPtFullEx::init	(	industrial::shared_types::shared_int	num_groups,
		industrial::shared_types::shared_int	sequence,
		std::vector< industrial::joint_traj_pt_full::JointTrajPtFull >	joint_trajectory_points
	)

Initializes a complete trajectory group.

bool industrial::joint_traj_pt_full_ex::JointTrajPtFullEx::load ( industrial::byte_array::ByteArray * buffer ) [virtual]

Implements industrial::simple_serialize::SimpleSerialize.

Definition at line 101 of file joint_traj_pt_full_ex.cpp.

bool industrial::joint_traj_pt_full_ex::JointTrajPtFullEx::operator== ( JointTrajPtFullEx & rhs )

== operator implementation

Returns:: true if equal

Definition at line 95 of file joint_traj_pt_full_ex.cpp.

void industrial::joint_traj_pt_full_ex::JointTrajPtFullEx::setMultiJointTrajPtData ( std::vector< industrial::joint_traj_pt_full::JointTrajPtFull > joint_trajectory_points ) [inline]

Definition at line 139 of file joint_traj_pt_full_ex.h.

void industrial::joint_traj_pt_full_ex::JointTrajPtFullEx::setNumGroups ( industrial::shared_types::shared_int num_groups ) [inline]

Sets num_groups Number of groups attached to the controller.

Parameters:

num_groups new num_groups value

Definition at line 122 of file joint_traj_pt_full_ex.h.

void industrial::joint_traj_pt_full_ex::JointTrajPtFullEx::setSequence ( industrial::shared_types::shared_int sequence ) [inline]

Sets joint trajectory point sequence number.

Parameters:

sequence value

Definition at line 149 of file joint_traj_pt_full_ex.h.

bool industrial::joint_traj_pt_full_ex::JointTrajPtFullEx::unload ( industrial::byte_array::ByteArray * buffer ) [virtual]