joint_data.h
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00001 /*
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00004  * Copyright (c) 2011, Southwest Research Institute
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00031 
00032 #ifndef JOINT_DATA_H
00033 #define JOINT_DATA_H
00034 
00035 #ifndef FLATHEADERS
00036 #include "simple_message/simple_message.h"
00037 #include "simple_message/simple_serialize.h"
00038 #include "simple_message/shared_types.h"
00039 #else
00040 #include "simple_message.h"
00041 #include "simple_serialize.h"
00042 #include "shared_types.h"
00043 #endif
00044 
00045 namespace industrial
00046 {
00047 namespace joint_data
00048 {
00049 
00068 class JointData : public industrial::simple_serialize::SimpleSerialize
00069 {
00070 public:
00077   JointData(void);
00082   ~JointData(void);
00083 
00088   void init();
00089 
00098   bool setJoint(industrial::shared_types::shared_int index, industrial::shared_types::shared_real value);
00099 
00108   bool getJoint(industrial::shared_types::shared_int index, industrial::shared_types::shared_real & value) const;
00109 
00118   industrial::shared_types::shared_real getJoint(industrial::shared_types::shared_int index) const;
00119 
00125   void copyFrom(JointData &src);
00126 
00132   int getMaxNumJoints() const
00133   {
00134     return MAX_NUM_JOINTS;
00135   }
00136 
00142   bool operator==(JointData &rhs);
00143 
00144   // Overrides - SimpleSerialize
00145   bool load(industrial::byte_array::ByteArray *buffer);
00146   bool unload(industrial::byte_array::ByteArray *buffer);
00147   unsigned int byteLength()
00148   {
00149     return MAX_NUM_JOINTS * sizeof(industrial::shared_types::shared_real);
00150   }
00151 
00152 private:
00153 
00157   static const industrial::shared_types::shared_int MAX_NUM_JOINTS = 10;
00161   industrial::shared_types::shared_real joints_[MAX_NUM_JOINTS];
00162 
00163 };
00164 
00165 }
00166 }
00167 
00168 #endif /* JOINT_DATA_H */


simple_message
Author(s): Shaun Edwards
autogenerated on Sat Jun 8 2019 20:43:23