trajectory_job.h
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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 TRAJECOTRY_JOB_H
00033 #define TRAJECTORY_JOB_H
00034 
00035 #ifdef ROS
00036 #include "simple_message/joint_traj.h"
00037 #endif
00038 
00039 #ifdef MOTOPLUS
00040 #include "joint_traj.h"
00041 #endif
00042 
00043 namespace motoman
00044 {
00045 namespace trajectory_job
00046 {
00047 
00052 //TODO: Should be "class static const" not macro
00053 #define LINE_BUFFER_SIZE_ 128
00054 
00055 
00060 //TODO: Should be "class static const" not macro
00061 #define NAME_BUFFER_SIZE_ 20
00062 
00069 //* TrajectoryJob
00076 class TrajectoryJob
00077 {
00078 
00079 public:
00080 
00085   TrajectoryJob();
00086 
00091   ~TrajectoryJob();
00092 
00093 
00102 bool init(const char* name);
00103 
00112 bool toJobString(industrial::joint_traj::JointTraj & trajectory, char* str_buffer, size_t buffer_size);
00113 
00119 char* getName() { return & this->name_[0];};
00120 
00121 
00122 
00123 private:
00124 
00125 
00126 
00130 char line_buffer_[LINE_BUFFER_SIZE_+1];
00131 
00135 char name_[NAME_BUFFER_SIZE_+1];
00136 
00137 
00138 
00139 };
00140 
00141 } //trajectory_job
00142 } //motoman
00143 
00144 #endif /* TRAJECTORY_JOB_H */


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