Class encapsulated joint trajectory point data. The point data serves as a waypoint along a trajectory and is meant to mirror the JointTrajectoryPoint message. More...
#include <joint_traj_pt_full_ex.h>
Public Member Functions | |
unsigned int | byteLength () |
void | copyFrom (JointTrajPtFullEx &src) |
Copies the passed in value. More... | |
industrial::shared_types::shared_int | getMaxGroups () |
Returns joint trajectory point maximum number of groups. More... | |
industrial::shared_types::shared_int | getNumGroups () |
Sets groups_number_ Numbers of group, this sets the amount of control groups connected to the controller. More... | |
industrial::shared_types::shared_int | getSequence () |
Returns joint trajectory point sequence number. More... | |
void | init () |
Initializes a empty joint trajectory group. More... | |
void | init (industrial::shared_types::shared_int num_groups, industrial::shared_types::shared_int sequence, std::vector< industrial::joint_traj_pt_full::JointTrajPtFull > joint_trajectory_points) |
Initializes a complete trajectory group. More... | |
JointTrajPtFullEx (void) | |
Default constructor. More... | |
bool | load (industrial::byte_array::ByteArray *buffer) |
bool | operator== (JointTrajPtFullEx &rhs) |
== operator implementation More... | |
void | setMultiJointTrajPtData (std::vector< industrial::joint_traj_pt_full::JointTrajPtFull > joint_trajectory_points) |
void | setNumGroups (industrial::shared_types::shared_int num_groups) |
Sets num_groups Number of groups attached to the controller. More... | |
void | setSequence (industrial::shared_types::shared_int sequence) |
Sets joint trajectory point sequence number. More... | |
bool | unload (industrial::byte_array::ByteArray *buffer) |
~JointTrajPtFullEx (void) | |
Destructor. More... | |
Private Attributes | |
industrial::joint_traj_pt_full::JointTrajPtFull | joint_traj_full_sample_ |
std::vector< industrial::joint_traj_pt_full::JointTrajPtFull > | joint_trajectory_points_ |
industrial::shared_types::shared_int | num_groups_ |
number of groups for controllers that support multiple axis-groups More... | |
industrial::shared_types::shared_int | sequence_ |
trajectory sequence number More... | |
industrial::shared_types::shared_int | valid_fields_from_message_ |
Static Private Attributes | |
static const industrial::shared_types::shared_int | MAX_NUM_GROUPS = 4 |
Class encapsulated joint trajectory point data. The point data serves as a waypoint along a trajectory and is meant to mirror the JointTrajectoryPoint message.
This class is similar to the simple_message joint_traj_pt class, but this class provides the full message contents directly to the robot controller, rather than simplifying the velocity duration.
The message data-packet byte representation is as follows (ordered lowest index to highest). The standard sizes are given, but can change based on type sizes:
member: type size num_groups (industrial::shared_types::shared_int) 4 bytes sequence (industrial::shared_types::shared_int) 4 bytes multiJointTrajData JointTrajPtData[]
THIS CLASS IS NOT THREAD-SAFE
Definition at line 86 of file joint_traj_pt_full_ex.h.
industrial::joint_traj_pt_full_ex::JointTrajPtFullEx::JointTrajPtFullEx | ( | void | ) |
Default constructor.
This method creates empty data.
Definition at line 56 of file joint_traj_pt_full_ex.cpp.
industrial::joint_traj_pt_full_ex::JointTrajPtFullEx::~JointTrajPtFullEx | ( | void | ) |
Destructor.
Definition at line 60 of file joint_traj_pt_full_ex.cpp.
|
inlinevirtual |
Implements industrial::simple_serialize::SimpleSerialize.
Definition at line 194 of file joint_traj_pt_full_ex.h.
void industrial::joint_traj_pt_full_ex::JointTrajPtFullEx::copyFrom | ( | JointTrajPtFullEx & | src | ) |
Copies the passed in value.
src | (value to copy) |
Definition at line 88 of file joint_traj_pt_full_ex.cpp.
|
inline |
Returns joint trajectory point maximum number of groups.
Definition at line 160 of file joint_traj_pt_full_ex.h.
|
inline |
Sets groups_number_ Numbers of group, this sets the amount of control groups connected to the controller.
groups_number | new groups_number value |
Definition at line 134 of file joint_traj_pt_full_ex.h.
|
inline |
Returns joint trajectory point sequence number.
Definition at line 171 of file joint_traj_pt_full_ex.h.
void industrial::joint_traj_pt_full_ex::JointTrajPtFullEx::init | ( | ) |
Initializes a empty joint trajectory group.
Definition at line 64 of file joint_traj_pt_full_ex.cpp.
void industrial::joint_traj_pt_full_ex::JointTrajPtFullEx::init | ( | industrial::shared_types::shared_int | num_groups, |
industrial::shared_types::shared_int | sequence, | ||
std::vector< industrial::joint_traj_pt_full::JointTrajPtFull > | joint_trajectory_points | ||
) |
Initializes a complete trajectory group.
|
virtual |
Implements industrial::simple_serialize::SimpleSerialize.
Definition at line 101 of file joint_traj_pt_full_ex.cpp.
bool industrial::joint_traj_pt_full_ex::JointTrajPtFullEx::operator== | ( | JointTrajPtFullEx & | rhs | ) |
== operator implementation
Definition at line 95 of file joint_traj_pt_full_ex.cpp.
|
inline |
Definition at line 139 of file joint_traj_pt_full_ex.h.
|
inline |
Sets num_groups Number of groups attached to the controller.
num_groups | new num_groups value |
Definition at line 122 of file joint_traj_pt_full_ex.h.
|
inline |
Sets joint trajectory point sequence number.
sequence | value |
Definition at line 149 of file joint_traj_pt_full_ex.h.
|
virtual |
Implements industrial::simple_serialize::SimpleSerialize.
Definition at line 205 of file joint_traj_pt_full_ex.cpp.
|
private |
Definition at line 203 of file joint_traj_pt_full_ex.h.
|
private |
Definition at line 201 of file joint_traj_pt_full_ex.h.
|
staticprivate |
Definition at line 215 of file joint_traj_pt_full_ex.h.
|
private |
number of groups for controllers that support multiple axis-groups
Definition at line 207 of file joint_traj_pt_full_ex.h.
|
private |
trajectory sequence number
Definition at line 211 of file joint_traj_pt_full_ex.h.
|
private |
Definition at line 213 of file joint_traj_pt_full_ex.h.