industrial::joint_data::JointData Class Reference

Class encapsulated joint data (positions, accelerations, velocity, torque, and/or effort). More...

#include <joint_data.h>

Inheritance diagram for industrial::joint_data::JointData:

Public Member Functions
unsigned int	byteLength ()
	Virtual method returns the object size when packed into a ByteArray. More...
void	copyFrom (JointData &src)
	Copies the passed in value. More...
bool	getJoint (industrial::shared_types::shared_int index, industrial::shared_types::shared_real &value) const
	Gets a joint value within the buffer. More...
industrial::shared_types::shared_real	getJoint (industrial::shared_types::shared_int index) const
	Gets a joint value within the buffer (Only use this form if you are sure the index is within bounds). More...
int	getMaxNumJoints () const
	returns the maximum number of joints the message holds More...
void	init ()
	Initializes a empty joint data. More...
	JointData (void)
	Default constructor. More...
bool	load (industrial::byte_array::ByteArray *buffer)
	Virtual method for loading an object into a ByteArray. More...
bool	operator== (JointData &rhs)
	== operator implementation More...
bool	setJoint (industrial::shared_types::shared_int index, industrial::shared_types::shared_real value)
	Sets a joint value within the buffer. More...
bool	unload (industrial::byte_array::ByteArray *buffer)
	Virtual method for unloading an object from a ByteArray. More...
	~JointData (void)
	Destructor. More...

Private Attributes
industrial::shared_types::shared_real	joints_ [MAX_NUM_JOINTS]
	internal data buffer More...

Static Private Attributes
static const industrial::shared_types::shared_int	MAX_NUM_JOINTS = 10
	maximum number of joints positions that can be held in the message. More...

Detailed Description

Class encapsulated joint data (positions, accelerations, velocity, torque, and/or effort).

For simplicity and cross platform compliance, this is implemented as a fixed size array.

The byte representation of a joint data is as follows. The standard sizes are given, but can change based on type sizes:

member: type size joints (industrial::shared_types::shared_real) 4 * MAX_NUM_JOINTS

THIS CLASS IS NOT THREAD-SAFE

Definition at line 68 of file joint_data.h.

Constructor & Destructor Documentation

JointData()

industrial::joint_data::JointData::JointData

(

void

)

Default constructor.

This method creates empty data.

Definition at line 48 of file joint_data.cpp.

~JointData()

industrial::joint_data::JointData::~JointData

(

void

)

Destructor.

Definition at line 52 of file joint_data.cpp.

Member Function Documentation

byteLength()

unsigned int industrial::joint_data::JointData::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 147 of file joint_data.h.

copyFrom()

void industrial::joint_data::JointData::copyFrom

(

JointData &

src

)

Copies the passed in value.

Parameters

src	(value to copy)

Definition at line 107 of file joint_data.cpp.

getJoint() [1/2]

bool industrial::joint_data::JointData::getJoint	(	industrial::shared_types::shared_int	index,
		industrial::shared_types::shared_real &	value
	)		const

Gets a joint value within the buffer.

Parameters

joint	index
joint	value (passed by reference)

Returns

true if value valid, otherwise false (index greater than max)

Definition at line 82 of file joint_data.cpp.

getJoint() [2/2]

shared_real industrial::joint_data::JointData::getJoint

(

industrial::shared_types::shared_int

index

)

const

Gets a joint value within the buffer (Only use this form if you are sure the index is within bounds).

Parameters

joint

index

Returns

joint value (returns 0.0 if index is out of bounds)

Definition at line 99 of file joint_data.cpp.

getMaxNumJoints()

int industrial::joint_data::JointData::getMaxNumJoints ( ) const

inline

returns the maximum number of joints the message holds

Returns

max number of joints

Definition at line 132 of file joint_data.h.

init()

void industrial::joint_data::JointData::init

(

)

Initializes a empty joint data.

Definition at line 57 of file joint_data.cpp.

load()

bool industrial::joint_data::JointData::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 138 of file joint_data.cpp.

operator==()

bool industrial::joint_data::JointData::operator==

(

JointData &

rhs

)

== operator implementation

Returns

true if equal

Definition at line 118 of file joint_data.cpp.

setJoint()

bool industrial::joint_data::JointData::setJoint	(	industrial::shared_types::shared_int	index,
		industrial::shared_types::shared_real	value
	)

Sets a joint value within the buffer.

Parameters

joint	index
joint	value

Returns

true if value set, otherwise false (index greater than max)

Definition at line 65 of file joint_data.cpp.

unload()

bool industrial::joint_data::JointData::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 157 of file joint_data.cpp.

Member Data Documentation

joints_

industrial::shared_types::shared_real industrial::joint_data::JointData::joints_[MAX_NUM_JOINTS]

private

internal data buffer

Definition at line 161 of file joint_data.h.

MAX_NUM_JOINTS

const industrial::shared_types::shared_int industrial::joint_data::JointData::MAX_NUM_JOINTS = 10

staticprivate

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

Definition at line 157 of file joint_data.h.

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

• joint_data.h
• joint_data.cpp