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.h>

Inheritance diagram for industrial::joint_traj_pt::JointTrajPt:

[legend]

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

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

industrial::shared_types::shared_real	getDuration ()
	Returns joint trajectory point duration. More...

void	getJointPosition (industrial::joint_data::JointData &dest)
	Returns a copy of the position data. More...

industrial::shared_types::shared_int	getSequence ()
	Returns joint trajectory point sequence number. More...

industrial::shared_types::shared_real	getVelocity ()
	Returns joint trajectory point velocity. More...

void	init ()
	Initializes a empty joint trajectory point. More...

void	init (industrial::shared_types::shared_int sequence, industrial::joint_data::JointData &position, industrial::shared_types::shared_real velocity, industrial::shared_types::shared_real duration)
	Initializes a complete trajectory point. More...

	JointTrajPt (void)
	Default constructor. More...

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

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

void	setDuration (industrial::shared_types::shared_real duration)
	Sets joint trajectory point duration. More...

void	setJointPosition (industrial::joint_data::JointData &position)
	Sets joint position data. More...

void	setSequence (industrial::shared_types::shared_int sequence)
	Sets joint trajectory point sequence number. More...

void	setVelocity (industrial::shared_types::shared_real velocity)
	Sets joint trajectory point velocity. More...

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

	~JointTrajPt (void)
	Destructor. More...

Private Attributes
industrial::shared_types::shared_real	duration_
	joint move duration More...

industrial::joint_data::JointData	joint_position_
	joint point positional data More...

industrial::shared_types::shared_int	sequence_
	trajectory sequence number More...

industrial::shared_types::shared_real	velocity_
	joint point velocity More...

Detailed Description

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 point differs from the ROS trajectory point in the following ways:

The joint velocity in an industrial robot standard way (as a single value).
The duration is somewhat different than the ROS timestamp. The timestamp specifies when the move should start, where as the duration is how long the move should take. A big assumption is that a sequence of points is continuously executed. This is generally true of a ROS trajectory but not required.

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

member: type size sequence (industrial::shared_types::shared_int) 4 bytes joints (industrial::joint_data) 40 bytes velocity (industrial::shared_types::shared_real) 4 bytes duration (industrial::shared_types::shared_real) 4 bytes

THIS CLASS IS NOT THREAD-SAFE

Definition at line 92 of file joint_traj_pt.h.

Constructor & Destructor Documentation

industrial::joint_traj_pt::JointTrajPt::JointTrajPt ( void )

Default constructor.

This method creates empty data.

Definition at line 49 of file joint_traj_pt.cpp.

industrial::joint_traj_pt::JointTrajPt::~JointTrajPt ( void )

Destructor.

Definition at line 53 of file joint_traj_pt.cpp.

Member Function Documentation

unsigned int industrial::joint_traj_pt::JointTrajPt::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 218 of file joint_traj_pt.h.

void industrial::joint_traj_pt::JointTrajPt::copyFrom ( JointTrajPt & src )

Copies the passed in value.

Parameters

src	(value to copy)

Definition at line 74 of file joint_traj_pt.cpp.

industrial::shared_types::shared_real industrial::joint_traj_pt::JointTrajPt::getDuration ( )

inline

Returns joint trajectory point duration.

Returns: joint trajectory velocity

Definition at line 196 of file joint_traj_pt.h.

void industrial::joint_traj_pt::JointTrajPt::getJointPosition ( industrial::joint_data::JointData & dest )

inline

Returns a copy of the position data.

Parameters

joint position dest

Definition at line 136 of file joint_traj_pt.h.

industrial::shared_types::shared_int industrial::joint_traj_pt::JointTrajPt::getSequence ( )

inline

Returns joint trajectory point sequence number.

Returns: joint trajectory sequence number

Definition at line 156 of file joint_traj_pt.h.

industrial::shared_types::shared_real industrial::joint_traj_pt::JointTrajPt::getVelocity ( )

inline

Returns joint trajectory point velocity.

Returns: joint trajectory velocity

Definition at line 176 of file joint_traj_pt.h.

void industrial::joint_traj_pt::JointTrajPt::init ( )

Initializes a empty joint trajectory point.

Definition at line 58 of file joint_traj_pt.cpp.

void industrial::joint_traj_pt::JointTrajPt::init	(	industrial::shared_types::shared_int	sequence,
		industrial::joint_data::JointData &	position,
		industrial::shared_types::shared_real	velocity,
		industrial::shared_types::shared_real	duration
	)

Initializes a complete trajectory point.

Definition at line 66 of file joint_traj_pt.cpp.

bool industrial::joint_traj_pt::JointTrajPt::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 89 of file joint_traj_pt.cpp.

bool industrial::joint_traj_pt::JointTrajPt::operator== ( JointTrajPt & rhs )

== operator implementation

Returns: true if equal

Definition at line 82 of file joint_traj_pt.cpp.

void industrial::joint_traj_pt::JointTrajPt::setDuration ( industrial::shared_types::shared_real duration )

inline

Sets joint trajectory point duration.

Parameters

velocity value

Definition at line 186 of file joint_traj_pt.h.

void industrial::joint_traj_pt::JointTrajPt::setJointPosition ( industrial::joint_data::JointData & position )

inline

Sets joint position data.

Parameters

joint position data

Definition at line 126 of file joint_traj_pt.h.

void industrial::joint_traj_pt::JointTrajPt::setSequence ( industrial::shared_types::shared_int sequence )

inline

Sets joint trajectory point sequence number.

Parameters

sequence value

Definition at line 146 of file joint_traj_pt.h.

void industrial::joint_traj_pt::JointTrajPt::setVelocity ( industrial::shared_types::shared_real velocity )

inline

Sets joint trajectory point velocity.

Parameters

velocity value

Definition at line 166 of file joint_traj_pt.h.

bool industrial::joint_traj_pt::JointTrajPt::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 134 of file joint_traj_pt.cpp.

Member Data Documentation

industrial::shared_types::shared_real industrial::joint_traj_pt::JointTrajPt::duration_

private

joint move duration

Definition at line 242 of file joint_traj_pt.h.

industrial::joint_data::JointData industrial::joint_traj_pt::JointTrajPt::joint_position_

private

joint point positional data

Definition at line 229 of file joint_traj_pt.h.

industrial::shared_types::shared_int industrial::joint_traj_pt::JointTrajPt::sequence_

private

trajectory sequence number

Definition at line 237 of file joint_traj_pt.h.

industrial::shared_types::shared_real industrial::joint_traj_pt::JointTrajPt::velocity_

private

joint point velocity

Definition at line 233 of file joint_traj_pt.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