joint_traj_pt.h
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00001 /*
00002  * Software License Agreement (BSD License)
00003  *
00004  * Copyright (c) 2011, 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
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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"
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00031 
00032 #ifndef JOINT_TRAJ_PT_H
00033 #define JOINT_TRAJ_PT_H
00034 
00035 #ifndef FLATHEADERS
00036 #include "simple_message/joint_data.h"
00037 #include "simple_message/simple_message.h"
00038 #include "simple_message/simple_serialize.h"
00039 #include "simple_message/shared_types.h"
00040 #else
00041 #include "joint_data.h"
00042 #include "simple_message.h"
00043 #include "simple_serialize.h"
00044 #include "shared_types.h"
00045 #endif
00046 
00047 namespace industrial
00048 {
00049 namespace joint_traj_pt
00050 {
00051 
00052 namespace SpecialSeqValues
00053 {
00054 enum SpecialSeqValue
00055 {
00056   START_TRAJECTORY_DOWNLOAD = -1, START_TRAJECOTRY_STREAMING = -2, END_TRAJECTORY = -3, STOP_TRAJECTORY = -4
00057 };
00058 }
00059 typedef SpecialSeqValues::SpecialSeqValue SpecialSeqValue;
00060 
00088 class JointTrajPt : public industrial::simple_serialize::SimpleSerialize
00089 {
00090 public:
00097   JointTrajPt(void);
00102   ~JointTrajPt(void);
00103 
00108   void init();
00109 
00114   void init(industrial::shared_types::shared_int sequence, industrial::joint_data::JointData & position,
00115             industrial::shared_types::shared_real velocity, industrial::shared_types::shared_real duration);
00116 
00122   void setJointPosition(industrial::joint_data::JointData &position)
00123   {
00124     this->joint_position_.copyFrom(position);
00125   }
00126 
00132   void getJointPosition(industrial::joint_data::JointData &dest)
00133   {
00134     dest.copyFrom(this->joint_position_);
00135   }
00136 
00142   void setSequence(industrial::shared_types::shared_int sequence)
00143   {
00144     this->sequence_ = sequence;
00145   }
00146 
00152   industrial::shared_types::shared_int getSequence()
00153   {
00154     return this->sequence_;
00155   }
00156 
00162   void setVelocity(industrial::shared_types::shared_real velocity)
00163   {
00164     this->velocity_ = velocity;
00165   }
00166 
00172   industrial::shared_types::shared_real getVelocity()
00173   {
00174     return this->velocity_;
00175   }
00176 
00182     void setDuration(industrial::shared_types::shared_real duration)
00183     {
00184       this->duration_ = duration;
00185     }
00186 
00192     industrial::shared_types::shared_real getDuration()
00193     {
00194       return this->duration_;
00195     }
00196 
00202   void copyFrom(JointTrajPt &src);
00203 
00209   bool operator==(JointTrajPt &rhs);
00210 
00211   // Overrides - SimpleSerialize
00212   bool load(industrial::byte_array::ByteArray *buffer);
00213   bool unload(industrial::byte_array::ByteArray *buffer);
00214   unsigned int byteLength()
00215   {
00216     return sizeof(industrial::shared_types::shared_real) + sizeof(industrial::shared_types::shared_int)
00217         + this->joint_position_.byteLength();
00218   }
00219 
00220 private:
00221 
00225   industrial::joint_data::JointData joint_position_;
00229   industrial::shared_types::shared_real velocity_;
00233   industrial::shared_types::shared_int sequence_;
00234 
00238   industrial::shared_types::shared_real duration_;
00239 
00240 };
00241 
00242 }
00243 }
00244 
00245 #endif /* JOINT_TRAJ_PT_H */


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