Go to the documentation of this file.
32 #ifndef JOINT_TRAJ_PT_FULL_H
33 #define JOINT_TRAJ_PT_FULL_H
49 namespace joint_traj_pt_full
52 namespace SpecialSeqValues
65 namespace ValidFieldTypes
unsigned int byteLength()
Virtual method returns the object size when packed into a ByteArray.
SpecialSeqValues::SpecialSeqValue SpecialSeqValue
Class encapsulated joint data (positions, accelerations, velocity, torque, and/or effort).
bool unload(industrial::byte_array::ByteArray *buffer)
Virtual method for unloading an object from a ByteArray.
void clearAccelerations()
Clears the acceleration data.
industrial::shared_types::shared_int sequence_
trajectory sequence number
~JointTrajPtFull(void)
Destructor.
industrial::joint_data::JointData positions_
joint trajectory point positional data
industrial::shared_types::shared_int getRobotID()
Gets robot_id. Robot group # (0-based), for controllers with multiple axis-groups.
industrial::shared_types::shared_int robot_id_
robot group # (0-based) for controllers that support multiple axis-groups
void setSequence(industrial::shared_types::shared_int sequence)
Sets joint trajectory point sequence number.
@ START_TRAJECOTRY_STREAMING
deprecated, please use START_TRAJECTORY_STREAMING instead
bool getAccelerations(industrial::joint_data::JointData &dest)
Returns a copy of the acceleration data.
@ STOP_TRAJECTORY
Server should stop the current motion (if any) as soon as possible.
bool getTime(industrial::shared_types::shared_real &time)
Returns joint trajectory point timestamp.
void setAccelerations(industrial::joint_data::JointData &accelerations)
Sets joint acceleration data.
void init()
Initializes a empty joint trajectory point.
void clearPositions()
Clears the position data.
bool load(industrial::byte_array::ByteArray *buffer)
Virtual method for loading an object into a ByteArray.
industrial::joint_data::JointData accelerations_
joint trajectory point acceleration data
void clearVelocities()
Clears the velocity data.
void setPositions(industrial::joint_data::JointData &positions)
Sets joint position data.
void setVelocities(industrial::joint_data::JointData &velocities)
Sets joint velocity data.
unsigned int byteLength()
Virtual method returns the object size when packed into a ByteArray.
void clearTime()
Clears the joint trajectory point timestamp.
The byte array wraps a dynamic array of bytes (i.e. char).
@ START_TRAJECTORY_DOWNLOAD
Downloading drivers only: signal start of trajectory.
bool getPositions(industrial::joint_data::JointData &dest)
Returns a copy of the position data.
void init()
Initializes a empty joint data.
Class encapsulated joint trajectory point data. The point data serves as a waypoint along a trajector...
Interface for loading and unloading a class to/from a ByteArray.
ValidFieldTypes::ValidFieldType ValidFieldType
JointTrajPtFull(void)
Default constructor.
@ START_TRAJECTORY_STREAMING
Streaming drivers only: signal start of trajectory.
void setTime(industrial::shared_types::shared_real time)
Sets joint trajectory point timestamp.
industrial::shared_types::shared_int valid_fields_
bit-mask of (optional) fields that have been initialized with valid data
bool is_valid(ValidFieldType field)
check the validity state for a given field
bool operator==(JointTrajPtFull &rhs)
== operator implementation
industrial::shared_types::shared_real time_
joint trajectory point timestamp Typically, time_from_start of this trajectory (in seconds)
bool getVelocities(industrial::joint_data::JointData &dest)
Returns a copy of the velocity data.
industrial::shared_types::shared_int getSequence()
Returns joint trajectory point sequence number.
void copyFrom(JointData &src)
Copies the passed in value.
void setRobotID(industrial::shared_types::shared_int robot_id)
Sets robot_id. Robot group # (0-based), for controllers with multiple axis-groups.
industrial::joint_data::JointData velocities_
joint trajectory point velocity data
void copyFrom(JointTrajPtFull &src)
Copies the passed in value.
@ END_TRAJECTORY
Downloading drivers only: signal end of trajectory.
simple_message
Author(s): Shaun Edwards
autogenerated on Wed Mar 2 2022 00:24:53