joint_traj_pt.h
Go to the documentation of this file.
00001 /*
00002  * Software License Agreement (BSD License)
00003  *
00004  * Copyright (c) 2011, Southwest Research Institute
00005  * All rights reserved.
00006  *
00007  * Redistribution and use in source and binary forms, with or without
00008  * modification, are permitted provided that the following conditions are met:
00009  *
00010  *      * Redistributions of source code must retain the above copyright
00011  *      notice, this list of conditions and the following disclaimer.
00012  *      * Redistributions in binary form must reproduce the above copyright
00013  *      notice, this list of conditions and the following disclaimer in the
00014  *      documentation and/or other materials provided with the distribution.
00015  *      * Neither the name of the Southwest Research Institute, nor the names
00016  *      of its contributors may be used to endorse or promote products derived
00017  *      from this software without specific prior written permission.
00018  *
00019  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00020  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00021  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00022  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00023  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00024  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00025  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00026  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00027  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00028  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00029  * POSSIBILITY OF SUCH DAMAGE.
00030  */
00031 
00032 #ifndef JOINT_TRAJ_PT_H
00033 #define JOINT_TRAJ_PT_H
00034 
00035 #ifdef ROS
00036 #include "simple_message/joint_data.h"
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 #include "joint_data.h"
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_traj_pt
00056 {
00057 
00058 namespace SpecialSeqValues
00059 {
00060 enum SpecialSeqValue
00061 {
00062   START_TRAJECTORY_DOWNLOAD = -1,
00063   START_TRAJECOTRY_STREAMING = -2,
00064   END_TRAJECTORY = -3,
00065   STOP_TRAJECTORY = -4
00066 };
00067 }
00068 typedef SpecialSeqValues::SpecialSeqValue SpecialSeqValue;
00069 
00076 //* JointTrajPt
00083 class JointTrajPt : public industrial::simple_serialize::SimpleSerialize
00084 {
00085 public:
00092         JointTrajPt(void);
00097   ~JointTrajPt(void);
00098 
00103   void init();
00104 
00109   void init(industrial::shared_types::shared_int sequence,
00110                   industrial::joint_data::JointData & position,
00111                   industrial::shared_types::shared_real velocity);
00112 
00118   void setJointPosition(industrial::joint_data::JointData &position)
00119   {
00120           this->joint_position_.copyFrom(position);
00121   }
00122 
00128   void getJointPosition(industrial::joint_data::JointData &dest)
00129   {
00130           dest.copyFrom(this->joint_position_);
00131   }
00132 
00138   void setSequence(industrial::shared_types::shared_int sequence)
00139   {
00140           this->sequence_ = sequence;
00141   }
00142 
00148   industrial::shared_types::shared_int getSequence()
00149   {
00150           return this->sequence_;
00151   }
00152 
00158     void setVelocity(industrial::shared_types::shared_real velocity)
00159     {
00160           this->velocity_ = velocity;
00161     }
00162 
00168     industrial::shared_types::shared_real getVelocity()
00169     {
00170           return this->velocity_;
00171     }
00172 
00173 
00174   
00180   void copyFrom(JointTrajPt &src);
00181 
00187   bool operator==(JointTrajPt &rhs);
00188 
00189   // Overrides - SimpleSerialize
00190   bool load(industrial::byte_array::ByteArray *buffer);
00191   bool unload(industrial::byte_array::ByteArray *buffer);
00192   unsigned int byteLength()
00193   {
00194           return sizeof(industrial::shared_types::shared_real) +
00195                           sizeof(industrial::shared_types::shared_int) +
00196                           this->joint_position_.byteLength();
00197   }
00198 
00199 private:
00200 
00204   industrial::joint_data::JointData joint_position_;
00208   industrial::shared_types::shared_real velocity_;
00212   industrial::shared_types::shared_int sequence_;
00213 
00214 };
00215 
00216 }
00217 }
00218 
00219 #endif /* JOINT_TRAJ_PT_H */


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