joint_data.h
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00001 /*
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00031 
00032 #ifndef JOINT_DATA_H
00033 #define JOINT_DATA_H
00034 
00035 #ifdef ROS
00036 
00037 #include "simple_message/simple_message.h"
00038 #include "simple_message/simple_serialize.h"
00039 #include "simple_message/shared_types.h"
00040 
00041 #endif
00042 
00043 #ifdef MOTOPLUS
00044 
00045 #include "simple_message.h"
00046 #include "simple_serialize.h"
00047 #include "shared_types.h"
00048 
00049 #endif
00050 
00051 
00052 
00053 namespace industrial
00054 {
00055 namespace joint_data
00056 {
00057 
00064 //* JointData
00071 class JointData : public industrial::simple_serialize::SimpleSerialize
00072 {
00073 public:
00080         JointData(void);
00085   ~JointData(void);
00086 
00091   void init();
00092 
00101   bool setJoint(industrial::shared_types::shared_int index, industrial::shared_types::shared_real value);
00102 
00111   bool getJoint(industrial::shared_types::shared_int index, industrial::shared_types::shared_real & value);
00112   
00121   industrial::shared_types::shared_real getJoint(industrial::shared_types::shared_int index);
00122   
00123   
00129   void copyFrom(JointData &src);
00130 
00136   int getMaxNumJoints() const
00137   {
00138     return MAX_NUM_JOINTS;
00139   }
00140 
00146   bool operator==(JointData &rhs);
00147 
00148   // Overrides - SimpleSerialize
00149   bool load(industrial::byte_array::ByteArray *buffer);
00150   bool unload(industrial::byte_array::ByteArray *buffer);
00151   unsigned int byteLength()
00152   {
00153     return MAX_NUM_JOINTS * sizeof(industrial::shared_types::shared_real);
00154   }
00155 
00156 private:
00157 
00161   static const industrial::shared_types::shared_int MAX_NUM_JOINTS = 10;
00165   industrial::shared_types::shared_real joints_[MAX_NUM_JOINTS];
00166 
00167 };
00168 
00169 }
00170 }
00171 
00172 #endif /* JOINT_DATA_H */


dx100
Author(s): Shaun Edwards (Southwest Research Institute)
autogenerated on Thu Jan 2 2014 11:29:36