Public Member Functions | Private Attributes | Static Private Attributes | List of all members
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:
Inheritance graph
[legend]

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...
 
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...
 
bool getJoint (industrial::shared_types::shared_int index, industrial::shared_types::shared_real &value) const
 Gets a joint value within the buffer. 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]

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

Definition at line 99 of file joint_data.cpp.

◆ getJoint() [2/2]

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
jointindex
jointvalue (passed by reference)
Returns
true if value valid, otherwise false (index greater than max)

Definition at line 82 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
bufferpointer 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
jointindex
jointvalue
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
bufferpointer 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.


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


simple_message
Author(s): Shaun Edwards
autogenerated on Wed Mar 2 2022 00:24:53