Class encapsulated motion control data. These control messages are required to download command-trajectories to the FS100 controller. Trajectory data is provided in a separate JointTrajPtFull message. These control commands are motoman-specific. More...

#include <motoman_motion_ctrl.h>

Inheritance diagram for motoman::simple_message::motion_ctrl::MotionCtrl:

[legend]

Public Member Functions
unsigned int	byteLength ()

void	clearData ()
	Clears command data. More...

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

MotionControlCmd	getCommand ()
	Returns motion control command. More...

industrial::shared_types::shared_real	getData (size_t idx)
	Returns command data. More...

industrial::shared_types::shared_int	getRobotID ()
	Returns target robot/group # for this command. More...

industrial::shared_types::shared_int	getSequence ()
	Returns control command's sequence number. More...

void	init ()
	Initializes a empty motion control command. More...

void	init (industrial::shared_types::shared_int robot_id, industrial::shared_types::shared_int sequence, MotionControlCmd command, industrial::shared_types::shared_real data)
	Initializes a complete motion control command. More...

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

	MotionCtrl (void)
	Default constructor. More...

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

void	setCommand (MotionControlCmd command)
	Sets motion control command. More...

void	setData (size_t idx, industrial::shared_types::shared_real val)
	Sets command data. More...

void	setRobotID (industrial::shared_types::shared_int robot_id)
	Sets robot_id. More...

void	setSequence (industrial::shared_types::shared_int sequence)
	Sets control command's sequence number. More...

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

	~MotionCtrl (void)
	Destructor. More...

Private Attributes
industrial::shared_types::shared_int	command_
	Motion-control command. More...

industrial::shared_types::shared_real	data_ [MAX_DATA_CNT]
	Motion-control command data Contents of data-buffer are specific to each command. More...

industrial::shared_types::shared_int	robot_id_
	Robot/group ID. 0 = 1st robot. More...

industrial::shared_types::shared_int	sequence_
	Message-tracking number that will be echoed back in reply message. More...

Static Private Attributes
static const size_t	MAX_DATA_CNT = 10
	Maximum length (# of float elements) of data buffer. More...

Detailed Description

Class encapsulated motion control data. These control messages are required to download command-trajectories to the FS100 controller. Trajectory data is provided in a separate JointTrajPtFull message. These control commands are motoman-specific.

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

member: type size robot_id (industrial::shared_types::shared_int) 4 bytes sequence (industrial::shared_types::shared_int) 4 bytes command (industrial::shared_types::shared_int) 4 bytes data[10] (industrial::shared_types::shared_real) 40 bytes

THIS CLASS IS NOT THREAD-SAFE

Definition at line 91 of file motoman_motion_ctrl.h.

Constructor & Destructor Documentation

motoman::simple_message::motion_ctrl::MotionCtrl::MotionCtrl ( void )

Default constructor.

This method creates empty data.

Definition at line 53 of file motoman_motion_ctrl.cpp.

motoman::simple_message::motion_ctrl::MotionCtrl::~MotionCtrl ( void )

Destructor.

Definition at line 57 of file motoman_motion_ctrl.cpp.

Member Function Documentation

unsigned int motoman::simple_message::motion_ctrl::MotionCtrl::byteLength ( )

inlinevirtual

Implements industrial::simple_serialize::SimpleSerialize.

Definition at line 244 of file motoman_motion_ctrl.h.

void motoman::simple_message::motion_ctrl::MotionCtrl::clearData ( )

inline

Clears command data.

Definition at line 185 of file motoman_motion_ctrl.h.

void motoman::simple_message::motion_ctrl::MotionCtrl::copyFrom ( MotionCtrl & src )

Copies the passed in value.

Parameters

src	(value to copy)

Definition at line 76 of file motoman_motion_ctrl.cpp.

MotionControlCmd motoman::simple_message::motion_ctrl::MotionCtrl::getCommand ( )

inline

Returns motion control command.

Returns: motion-control command value

Definition at line 177 of file motoman_motion_ctrl.h.

industrial::shared_types::shared_real motoman::simple_message::motion_ctrl::MotionCtrl::getData ( size_t idx )

inline

Returns command data.

Parameters

idx	data-index to get

Returns: data value

Definition at line 212 of file motoman_motion_ctrl.h.

industrial::shared_types::shared_int motoman::simple_message::motion_ctrl::MotionCtrl::getRobotID ( )

inline

Returns target robot/group # for this command.

Returns: robot_id

Definition at line 137 of file motoman_motion_ctrl.h.

industrial::shared_types::shared_int motoman::simple_message::motion_ctrl::MotionCtrl::getSequence ( )

inline

Returns control command's sequence number.

Returns: control command sequence number

Definition at line 157 of file motoman_motion_ctrl.h.

void motoman::simple_message::motion_ctrl::MotionCtrl::init ( )

Initializes a empty motion control command.

Definition at line 61 of file motoman_motion_ctrl.cpp.

void motoman::simple_message::motion_ctrl::MotionCtrl::init	(	industrial::shared_types::shared_int	robot_id,
		industrial::shared_types::shared_int	sequence,
		MotionControlCmd	command,
		industrial::shared_types::shared_real	data
	)

Initializes a complete motion control command.

Definition at line 66 of file motoman_motion_ctrl.cpp.

bool motoman::simple_message::motion_ctrl::MotionCtrl::load ( industrial::byte_array::ByteArray * buffer )

virtual

Implements industrial::simple_serialize::SimpleSerialize.

Definition at line 97 of file motoman_motion_ctrl.cpp.

bool motoman::simple_message::motion_ctrl::MotionCtrl::operator== ( MotionCtrl & rhs )

== operator implementation

Returns: true if equal

Definition at line 85 of file motoman_motion_ctrl.cpp.

void motoman::simple_message::motion_ctrl::MotionCtrl::setCommand ( MotionControlCmd command )

inline

Sets motion control command.

Parameters

command motion-control command value

Definition at line 167 of file motoman_motion_ctrl.h.

void motoman::simple_message::motion_ctrl::MotionCtrl::setData	(	size_t	idx,
		industrial::shared_types::shared_real	val
	)

inline

Sets command data.

Parameters

idx	index to set
val	data value

Definition at line 197 of file motoman_motion_ctrl.h.

void motoman::simple_message::motion_ctrl::MotionCtrl::setRobotID ( industrial::shared_types::shared_int robot_id )

inline

Sets robot_id.

Parameters

robot_id target robot/group # for this command

Definition at line 127 of file motoman_motion_ctrl.h.

void motoman::simple_message::motion_ctrl::MotionCtrl::setSequence ( industrial::shared_types::shared_int sequence )

inline

Sets control command's sequence number.

Parameters

sequence value

Definition at line 147 of file motoman_motion_ctrl.h.

bool motoman::simple_message::motion_ctrl::MotionCtrl::unload ( industrial::byte_array::ByteArray * buffer )

virtual

Implements industrial::simple_serialize::SimpleSerialize.

Definition at line 134 of file motoman_motion_ctrl.cpp.

Member Data Documentation

industrial::shared_types::shared_int motoman::simple_message::motion_ctrl::MotionCtrl::command_

private

Motion-control command.

Definition at line 265 of file motoman_motion_ctrl.h.

industrial::shared_types::shared_real motoman::simple_message::motion_ctrl::MotionCtrl::data_[MAX_DATA_CNT]

private

Motion-control command data Contents of data-buffer are specific to each command.

Definition at line 276 of file motoman_motion_ctrl.h.

const size_t motoman::simple_message::motion_ctrl::MotionCtrl::MAX_DATA_CNT = 10

staticprivate

Maximum length (# of float elements) of data buffer.

Definition at line 270 of file motoman_motion_ctrl.h.

industrial::shared_types::shared_int motoman::simple_message::motion_ctrl::MotionCtrl::robot_id_

private

Robot/group ID. 0 = 1st robot.

Definition at line 255 of file motoman_motion_ctrl.h.

industrial::shared_types::shared_int motoman::simple_message::motion_ctrl::MotionCtrl::sequence_

private

Message-tracking number that will be echoed back in reply message.

Definition at line 260 of file motoman_motion_ctrl.h.

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

Public Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation