joint_feedback_message.h

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 * Copyright (c) 2013, Southwest Research Institute
 * All rights reserved.
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#ifndef JOINT_FEEDBACK_MESSAGE_H
#define JOINT_FEEDBACK_MESSAGE_H
 
#ifndef FLATHEADERS
#include "simple_message/typed_message.h"
#include "simple_message/simple_message.h"
#include "simple_message/shared_types.h"
#include "simple_message/joint_feedback.h"
#else
#include "typed_message.h"
#include "simple_message.h"
#include "shared_types.h"
#include "joint_feedback.h"
#endif
 
namespace industrial
{
namespace joint_feedback_message
{
 
 
class JointFeedbackMessage : public industrial::typed_message::TypedMessage
 
{
public:
  JointFeedbackMessage(void);
  ~JointFeedbackMessage(void);
  bool init(industrial::simple_message::SimpleMessage & msg);
 
  void init(industrial::joint_feedback::JointFeedback & data);
 
  void init();
 
  // Overrides - SimpleSerialize
  bool load(industrial::byte_array::ByteArray *buffer);
  bool unload(industrial::byte_array::ByteArray *buffer);
 
  unsigned int byteLength()
  {
    return this->data_.byteLength();
  }
 
  industrial::shared_types::shared_int getRobotID()
  {
    return this->data_.getRobotID();
  }
 
  bool getTime(industrial::shared_types::shared_real & time)
  {
    return this->data_.getTime(time);
  }
 
  bool getPositions(industrial::joint_data::JointData &dest)
  {
    return this->data_.getPositions(dest);
  }
 
  bool getVelocities(industrial::joint_data::JointData &dest)
  {
    return this->data_.getVelocities(dest);
  }
 
  bool getAccelerations(industrial::joint_data::JointData &dest)
  {
    return this->data_.getAccelerations(dest);
  }
 
private:
 
  industrial::joint_feedback::JointFeedback data_;
 
};
 
}
}
 
#endif /* JOINT_FEEDBACK_MESSAGE_H */