Class encapsulated joint data (positions, accelerations, velocity, torque, and/or effort). More...

#include <joint_data.h>

Inheritance diagram for industrial::joint_data::JointData:

Public Member Functions
unsigned int	byteLength ()
	Virtual method returns the object size when packed into a ByteArray.
void	copyFrom (JointData &src)
	Copies the passed in value.
bool	getJoint (industrial::shared_types::shared_int index, industrial::shared_types::shared_real &value) const
	Gets a joint value within the buffer.
industrial::shared_types::shared_real	getJoint (industrial::shared_types::shared_int index) const
	Gets a joint value within the buffer (Only use this form if you are sure the index is within bounds).
int	getMaxNumJoints () const
	returns the maximum number of joints the message holds
void	init ()
	Initializes a empty joint data.
	JointData (void)
	Default constructor.
bool	load (industrial::byte_array::ByteArray *buffer)
	Virtual method for loading an object into a ByteArray.
bool	operator== (JointData &rhs)
	== operator implementation
bool	setJoint (industrial::shared_types::shared_int index, industrial::shared_types::shared_real value)
	Sets a joint value within the buffer.
bool	unload (industrial::byte_array::ByteArray *buffer)
	Virtual method for unloading an object from a ByteArray.
	~JointData (void)
	Destructor.
Private Attributes
industrial::shared_types::shared_real	joints_ [MAX_NUM_JOINTS]
	internal data buffer
Static Private Attributes
static const industrial::shared_types::shared_int	MAX_NUM_JOINTS = 10
	maximum number of joints positions that can be held in the message.

Detailed Description

Class encapsulated joint data (positions, accelerations, velocity, torque, and/or effort).

For simplicity and cross platform compliance, this is implemented as a fixed size array.

The byte representation of a joint data is as follows. The standard sizes are given, but can change based on type sizes:

member: type size joints (industrial::shared_types::shared_real) 4 * MAX_NUM_JOINTS

THIS CLASS IS NOT THREAD-SAFE

Definition at line 68 of file joint_data.h.

Constructor & Destructor Documentation

industrial::joint_data::JointData::JointData ( void )

Default constructor.

This method creates empty data.

Definition at line 48 of file joint_data.cpp.

industrial::joint_data::JointData::~JointData ( void )

Destructor.

Definition at line 52 of file joint_data.cpp.

Member Function Documentation

unsigned int industrial::joint_data::JointData::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 147 of file joint_data.h.

void industrial::joint_data::JointData::copyFrom ( JointData & src )

Copies the passed in value.

Parameters:

src	(value to copy)

Definition at line 107 of file joint_data.cpp.

bool industrial::joint_data::JointData::getJoint	(	industrial::shared_types::shared_int	index,
		industrial::shared_types::shared_real &	value
	)		const

Gets a joint value within the buffer.

Parameters:

joint	index
joint	value (passed by reference)

Returns:: true if value valid, otherwise false (index greater than max)

Definition at line 82 of file joint_data.cpp.

shared_real industrial::joint_data::JointData::getJoint ( industrial::shared_types::shared_int index ) const

Gets a joint value within the buffer (Only use this form if you are sure the index is within bounds).

Parameters:

joint index

Returns:: joint value (returns 0.0 if index is out of bounds)

Definition at line 99 of file joint_data.cpp.

int industrial::joint_data::JointData::getMaxNumJoints ( ) const [inline]

returns the maximum number of joints the message holds

Returns:: max number of joints

Definition at line 132 of file joint_data.h.

void industrial::joint_data::JointData::init ( )

Initializes a empty joint data.

Definition at line 57 of file joint_data.cpp.

bool industrial::joint_data::JointData::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 138 of file joint_data.cpp.

bool industrial::joint_data::JointData::operator== ( JointData & rhs )

== operator implementation

Returns:: true if equal

Definition at line 118 of file joint_data.cpp.

bool industrial::joint_data::JointData::setJoint	(	industrial::shared_types::shared_int	index,
		industrial::shared_types::shared_real	value
	)

Sets a joint value within the buffer.

Parameters:

joint	index
joint	value

Returns:: true if value set, otherwise false (index greater than max)

Definition at line 65 of file joint_data.cpp.

bool industrial::joint_data::JointData::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 157 of file joint_data.cpp.

Member Data Documentation

industrial::shared_types::shared_real industrial::joint_data::JointData::joints_[MAX_NUM_JOINTS] [private]

internal data buffer

Definition at line 161 of file joint_data.h.

const industrial::shared_types::shared_int industrial::joint_data::JointData::MAX_NUM_JOINTS = 10 [static, private]

maximum number of joints positions that can be held in the message.

Definition at line 157 of file joint_data.h.

The documentation for this class was generated from the following files:

Public Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation