wrench.h

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#ifndef FSROBO_R_DRIVER_SIMPLE_MESSAGE_WRENCH_H
#define FSROBO_R_DRIVER_SIMPLE_MESSAGE_WRENCH_H

#ifndef FLATHEADERS
#include "simple_message/simple_message.h"
#include "simple_message/simple_serialize.h"
#include "simple_message/shared_types.h"
#else
#include "simple_message.h"
#include "simple_serialize.h"
#include "shared_types.h"
#endif

namespace fsrobo_r_driver
{
namespace simple_message
{
namespace wrench
{

class Wrench : public industrial::simple_serialize::SimpleSerialize
{
public:
Wrench(void);

~Wrench(void);

void init();

//void init(TriState drivesPowered, TriState eStopped, industrial::shared_types::shared_int errorCode, TriState inError,
//          TriState inMotion, RobotMode mode, TriState motionPossible);

industrial::shared_types::shared_real getForce(int idx)
{
  return force_[idx];
}

industrial::shared_types::shared_real getTorque(int idx)
{
  return torque_[idx];
}

void setForce(int idx, industrial::shared_types::shared_real val)
{
  this->force_[idx] = val;
}

void setTorque(int idx, industrial::shared_types::shared_real val)
{
  this->torque_[idx] = val;
}

void copyFrom(Wrench &src);

bool operator==(Wrench &rhs);

// Overrides - SimpleSerialize
bool load(industrial::byte_array::ByteArray *buffer);
bool unload(industrial::byte_array::ByteArray *buffer);
unsigned int byteLength()
{
  return 6 * sizeof(industrial::shared_types::shared_real);
}

private:
industrial::shared_types::shared_real force_[3];

industrial::shared_types::shared_real torque_[3];

};

}
}
}

#endif // FSROBO_R_DRIVER_SIMPLE_MESSAGE_WRENCH_H