Class encapsulated robot status data. The robot status data is meant to mirror the industrial_msgs/RobotStatus message. More...

#include <wrench.h>

Inheritance diagram for fsrobo_r_driver::simple_message::wrench::Wrench:

[legend]

Public Member Functions
unsigned int	byteLength ()

void	copyFrom (Wrench &src)
	Copies the passed in value. More...

industrial::shared_types::shared_real	getForce (int idx)
	Initializes a full robot status message. More...

industrial::shared_types::shared_real	getTorque (int idx)

void	init ()
	Initializes an empty robot status. More...

bool	load (industrial::byte_array::ByteArray *buffer)

bool	operator== (Wrench &rhs)
	== operator implementation More...

void	setForce (int idx, industrial::shared_types::shared_real val)

void	setTorque (int idx, industrial::shared_types::shared_real val)

bool	unload (industrial::byte_array::ByteArray *buffer)

	Wrench (void)
	Default constructor. More...

	~Wrench (void)
	Destructor. More...

Private Attributes
industrial::shared_types::shared_real	force_ [3]
	Force. More...

industrial::shared_types::shared_real	torque_ [3]
	Torque. More...

Detailed Description

Class encapsulated robot status data. The robot status data is meant to mirror the industrial_msgs/RobotStatus message.

The byte representation of a robot status is as follows (in order lowest index to highest). The standard sizes are given, but can change based on type sizes:

member: type size drives_powered (industrial::shared_types::shared_int) 4 bytes e_stopped (industrial::shared_types::shared_int) 4 bytes error_code (industrial::shared_types::shared_int) 4 bytes in_error (industrial::shared_types::shared_int) 4 bytes in_motion (industrial::shared_types::shared_int) 4 bytes mode (industrial::shared_types::shared_int) 4 bytes motion_possible (industrial::shared_types::shared_int) 4 bytes

THIS CLASS IS NOT THREAD-SAFE

Definition at line 70 of file wrench.h.

Constructor & Destructor Documentation

fsrobo_r_driver::simple_message::wrench::Wrench::Wrench ( void )

Default constructor.

This method creates empty data.

Definition at line 42 of file wrench.cpp.

fsrobo_r_driver::simple_message::wrench::Wrench::~Wrench ( void )

Destructor.

Definition at line 47 of file wrench.cpp.

Member Function Documentation

unsigned int fsrobo_r_driver::simple_message::wrench::Wrench::byteLength ( )

inlinevirtual

Implements industrial::simple_serialize::SimpleSerialize.

Definition at line 137 of file wrench.h.

void fsrobo_r_driver::simple_message::wrench::Wrench::copyFrom ( Wrench & src )

Copies the passed in value.

Parameters

src	(value to copy)

Definition at line 62 of file wrench.cpp.

industrial::shared_types::shared_real fsrobo_r_driver::simple_message::wrench::Wrench::getForce ( int idx )

inline

Initializes a full robot status message.

Definition at line 100 of file wrench.h.

industrial::shared_types::shared_real fsrobo_r_driver::simple_message::wrench::Wrench::getTorque ( int idx )

inline

Definition at line 105 of file wrench.h.

void fsrobo_r_driver::simple_message::wrench::Wrench::init ( )

Initializes an empty robot status.

Definition at line 52 of file wrench.cpp.

bool fsrobo_r_driver::simple_message::wrench::Wrench::load ( industrial::byte_array::ByteArray * buffer )

virtual

Implements industrial::simple_serialize::SimpleSerialize.

Definition at line 78 of file wrench.cpp.

bool fsrobo_r_driver::simple_message::wrench::Wrench::operator== ( Wrench & rhs )

== operator implementation

Returns: true if equal

Definition at line 72 of file wrench.cpp.

void fsrobo_r_driver::simple_message::wrench::Wrench::setForce	(	int	idx,
		industrial::shared_types::shared_real	val
	)

inline

Definition at line 110 of file wrench.h.

void fsrobo_r_driver::simple_message::wrench::Wrench::setTorque	(	int	idx,
		industrial::shared_types::shared_real	val
	)

inline

Definition at line 115 of file wrench.h.

bool fsrobo_r_driver::simple_message::wrench::Wrench::unload ( industrial::byte_array::ByteArray * buffer )

virtual

Implements industrial::simple_serialize::SimpleSerialize.

Definition at line 100 of file wrench.cpp.

Member Data Documentation

industrial::shared_types::shared_real fsrobo_r_driver::simple_message::wrench::Wrench::force_[3]

private

Force.

Definition at line 146 of file wrench.h.

industrial::shared_types::shared_real fsrobo_r_driver::simple_message::wrench::Wrench::torque_[3]

private

Torque.

Definition at line 151 of file wrench.h.

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

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation