joint_message.h
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00001 /*
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00004  * Copyright (c) 2011, Southwest Research Institute
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00016  *      of its contributors may be used to endorse or promote products derived
00017  *      from this software without specific prior written permission.
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00019  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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00031 
00032 #ifndef JOINT_MESSAGE_H
00033 #define JOINT_MESSAGE_H
00034 
00035 #ifdef ROS
00036 #include "simple_message/typed_message.h"
00037 #include "simple_message/simple_message.h"
00038 #include "simple_message/shared_types.h"
00039 #include "simple_message/joint_data.h"
00040 #endif
00041 
00042 #ifdef MOTOPLUS
00043 #include "typed_message.h"
00044 #include "simple_message.h"
00045 #include "shared_types.h"
00046 #include "joint_data.h"
00047 #endif
00048 
00049 namespace industrial
00050 {
00051 namespace joint_message
00052 {
00053 
00054 // TODO: The JointMessage is currently overloaded (i.e. a single message means multiple
00055 // things).  This is not ideal and seperate messages should be considered.
00060 namespace SpecialSeqValues
00061 {
00062 enum SpecialSeqValue
00063 {
00064   END_TRAJECTORY = -1, STOP_TRAJECTORY = -2
00065 };
00066 }
00067 typedef SpecialSeqValues::SpecialSeqValue SpecialSeqValue;
00068 
00069 
00070 
00075 //* JointMessage
00091 class JointMessage : public industrial::typed_message::TypedMessage
00092 {
00093 public:
00100   JointMessage(void);
00105   ~JointMessage(void);
00113   bool init(industrial::simple_message::SimpleMessage & msg);
00114 
00122   void init(industrial::shared_types::shared_int seq, industrial::joint_data::JointData & joints);
00123 
00128   void init();
00129 
00135   void setSequence(industrial::shared_types::shared_int sequence);
00136 
00142   industrial::shared_types::shared_int getSequence()
00143   {
00144     return sequence_;
00145   }
00146 
00152   industrial::joint_data::JointData& getJoints()
00153   {
00154     return this->joints_;
00155   }
00156 
00157   // Overrides - SimpleSerialize
00158   bool load(industrial::byte_array::ByteArray *buffer);
00159   bool unload(industrial::byte_array::ByteArray *buffer);
00160 
00161 
00162   unsigned int byteLength()
00163   {
00164     return sizeof(industrial::shared_types::shared_int) + this->joints_.byteLength();
00165   }
00166 
00167 private:
00171   industrial::shared_types::shared_int sequence_;
00175   industrial::joint_data::JointData joints_;
00176 
00177 };
00178 
00179 }
00180 }
00181 
00182 #endif /* JOINT_MESSAGE_H */


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