trajectory_job.h

Go to the documentation of this file.

/*
* Software License Agreement (BSD License) 
*
* Copyright (c) 2011, Southwest Research Institute
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
*       * Redistributions of source code must retain the above copyright
*       notice, this list of conditions and the following disclaimer.
*       * Redistributions in binary form must reproduce the above copyright
*       notice, this list of conditions and the following disclaimer in the
*       documentation and/or other materials provided with the distribution.
*       * Neither the name of the Southwest Research Institute, nor the names 
*       of its contributors may be used to endorse or promote products derived
*       from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/ 

#ifndef TRAJECOTRY_JOB_H
#define TRAJECTORY_JOB_H

#ifdef ROS
#include "simple_message/joint_traj.h"
#endif

#ifdef MOTOPLUS
#include "joint_traj.h"
#endif

namespace motoman
{
namespace trajectory_job
{

//TODO: Should be "class static const" not macro
#define LINE_BUFFER_SIZE_ 128


//TODO: Should be "class static const" not macro
#define NAME_BUFFER_SIZE_ 20

//* TrajectoryJob
class TrajectoryJob
{

public:

  TrajectoryJob();

  ~TrajectoryJob();


bool init(const char* name);

bool toJobString(industrial::joint_traj::JointTraj & trajectory, char* str_buffer, size_t buffer_size);

char* getName() { return & this->name_[0];};



private:



char line_buffer_[LINE_BUFFER_SIZE_+1];

char name_[NAME_BUFFER_SIZE_+1];



};

} //trajectory_job
} //motoman

#endif /* TRAJECTORY_JOB_H */