Class encapsulated joint trajectory. A joint trajectory includes an array of JointTrajPt data types. The intention for this class is to be loaded into a single message for communication over a simple connection. More...

#include <joint_traj.h>

Inheritance diagram for industrial::joint_traj::JointTraj:

[legend]

Public Member Functions
bool	addPoint (industrial::joint_traj_pt::JointTrajPt &point)
	Adds a point value to the end of the buffer. More...

unsigned int	byteLength ()
	Virtual method returns the object size when packed into a ByteArray. More...

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

int	getMaxNumPoints () const
	returns the maximum number of points the message holds More...

bool	getPoint (industrial::shared_types::shared_int index, industrial::joint_traj_pt::JointTrajPt &point)
	Gets a point value within the buffer. More...

void	init ()
	Initializes a empty joint data. More...

bool	isFull ()
	returns True if buffer is full More...

	JointTraj (void)
	Default constructor. More...

bool	load (industrial::byte_array::ByteArray *buffer)
	Virtual method for loading an object into a ByteArray. More...

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

industrial::shared_types::shared_int	size ()
	Gets a size of trajectory. More...

bool	unload (industrial::byte_array::ByteArray *buffer)
	Virtual method for unloading an object from a ByteArray. More...

	~JointTraj (void)
	Destructor. More...

Private Attributes
industrial::joint_traj_pt::JointTrajPt	points_ [MAX_NUM_POINTS]
	internal data buffer More...

industrial::shared_types::shared_int	size_
	size of trajectory More...

Static Private Attributes
static const industrial::shared_types::shared_int	MAX_NUM_POINTS = 200
	maximum number of joints positions that can be held in the message. More...

Detailed Description

Class encapsulated joint trajectory. A joint trajectory includes an array of JointTrajPt data types. The intention for this class is to be loaded into a single message for communication over a simple connection.

For simplicity and cross platform compliance, this is implemented as a fixed size array. The size of the trajectory cannot exceed the max size of the array.

THIS CLASS IS NOT THREAD-SAFE

Definition at line 70 of file joint_traj.h.

Constructor & Destructor Documentation

industrial::joint_traj::JointTraj::JointTraj ( void )

Default constructor.

This method creates empty data.

Definition at line 49 of file joint_traj.cpp.

industrial::joint_traj::JointTraj::~JointTraj ( void )

Destructor.

Definition at line 53 of file joint_traj.cpp.

Member Function Documentation

bool industrial::joint_traj::JointTraj::addPoint ( industrial::joint_traj_pt::JointTrajPt & point )

Adds a point value to the end of the buffer.

Parameters

point value

Returns: true if value set, otherwise false (buffer is full)

Definition at line 69 of file joint_traj.cpp.

unsigned int industrial::joint_traj::JointTraj::byteLength ( )

inlinevirtual

Virtual method returns the object size when packed into a ByteArray.

Returns: object size (in bytes)

Implements industrial::simple_serialize::SimpleSerialize.

Definition at line 158 of file joint_traj.h.

void industrial::joint_traj::JointTraj::copyFrom ( JointTraj & src )

Copies the passed in value.

Parameters

src	(value to copy)

Definition at line 105 of file joint_traj.cpp.

int industrial::joint_traj::JointTraj::getMaxNumPoints ( ) const

inline

returns the maximum number of points the message holds

Returns: max number of points

Definition at line 136 of file joint_traj.h.

bool industrial::joint_traj::JointTraj::getPoint	(	industrial::shared_types::shared_int	index,
		industrial::joint_traj_pt::JointTrajPt &	point
	)

Gets a point value within the buffer.

Parameters

point	index
point	value

Returns: true if value set, otherwise false (index greater than size)

Definition at line 88 of file joint_traj.cpp.

void industrial::joint_traj::JointTraj::init ( )

Initializes a empty joint data.

Definition at line 58 of file joint_traj.cpp.

bool industrial::joint_traj::JointTraj::isFull ( )

inline

returns True if buffer is full

Returns: true if buffer is full

Definition at line 126 of file joint_traj.h.

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

virtual

Virtual method for loading an object into a ByteArray.

This method should load all the required data to reconstruct the class object into the buffer

Parameters

buffer pointer to ByteArray

Returns: true on success, false otherwise (buffer not large enough)

Implements industrial::simple_serialize::SimpleSerialize.

Definition at line 149 of file joint_traj.cpp.

bool industrial::joint_traj::JointTraj::operator== ( JointTraj & rhs )

== operator implementation

Returns: true if equal

Definition at line 117 of file joint_traj.cpp.

industrial::shared_types::shared_int industrial::joint_traj::JointTraj::size ( )

inline

Gets a size of trajectory.

Returns: trajectory size

Definition at line 116 of file joint_traj.h.

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

virtual

Virtual method for unloading an object from a ByteArray.

This method should unload all the required data to reconstruct the class object (in place)

Parameters

buffer pointer to ByteArray

Returns: true on success, false otherwise (buffer not large enough)

Implements industrial::simple_serialize::SimpleSerialize.

Definition at line 175 of file joint_traj.cpp.

Member Data Documentation

const industrial::shared_types::shared_int industrial::joint_traj::JointTraj::MAX_NUM_POINTS = 200

staticprivate

maximum number of joints positions that can be held in the message.

Definition at line 169 of file joint_traj.h.

industrial::joint_traj_pt::JointTrajPt industrial::joint_traj::JointTraj::points_[MAX_NUM_POINTS]

private

internal data buffer

Definition at line 173 of file joint_traj.h.

industrial::shared_types::shared_int industrial::joint_traj::JointTraj::size_

private

size of trajectory

Definition at line 177 of file joint_traj.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