joint_traj_pt.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
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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 namespace industrial
00052 {
00053 namespace joint_traj_pt
00054 {
00055 
00056 namespace SpecialSeqValues
00057 {
00058 enum SpecialSeqValue
00059 {
00060   START_TRAJECTORY_DOWNLOAD = -1, START_TRAJECOTRY_STREAMING = -2, END_TRAJECTORY = -3, STOP_TRAJECTORY = -4
00061 };
00062 }
00063 typedef SpecialSeqValues::SpecialSeqValue SpecialSeqValue;
00064 
00092 class JointTrajPt : public industrial::simple_serialize::SimpleSerialize
00093 {
00094 public:
00101   JointTrajPt(void);
00106   ~JointTrajPt(void);
00107 
00112   void init();
00113 
00118   void init(industrial::shared_types::shared_int sequence, industrial::joint_data::JointData & position,
00119             industrial::shared_types::shared_real velocity, industrial::shared_types::shared_real duration);
00120 
00126   void setJointPosition(industrial::joint_data::JointData &position)
00127   {
00128     this->joint_position_.copyFrom(position);
00129   }
00130 
00136   void getJointPosition(industrial::joint_data::JointData &dest)
00137   {
00138     dest.copyFrom(this->joint_position_);
00139   }
00140 
00146   void setSequence(industrial::shared_types::shared_int sequence)
00147   {
00148     this->sequence_ = sequence;
00149   }
00150 
00156   industrial::shared_types::shared_int getSequence()
00157   {
00158     return this->sequence_;
00159   }
00160 
00166   void setVelocity(industrial::shared_types::shared_real velocity)
00167   {
00168     this->velocity_ = velocity;
00169   }
00170 
00176   industrial::shared_types::shared_real getVelocity()
00177   {
00178     return this->velocity_;
00179   }
00180 
00186     void setDuration(industrial::shared_types::shared_real duration)
00187     {
00188       this->duration_ = duration;
00189     }
00190 
00196     industrial::shared_types::shared_real getDuration()
00197     {
00198       return this->duration_;
00199     }
00200 
00206   void copyFrom(JointTrajPt &src);
00207 
00213   bool operator==(JointTrajPt &rhs);
00214 
00215   // Overrides - SimpleSerialize
00216   bool load(industrial::byte_array::ByteArray *buffer);
00217   bool unload(industrial::byte_array::ByteArray *buffer);
00218   unsigned int byteLength()
00219   {
00220     return sizeof(industrial::shared_types::shared_real) + sizeof(industrial::shared_types::shared_int)
00221         + this->joint_position_.byteLength();
00222   }
00223 
00224 private:
00225 
00229   industrial::joint_data::JointData joint_position_;
00233   industrial::shared_types::shared_real velocity_;
00237   industrial::shared_types::shared_int sequence_;
00238 
00242   industrial::shared_types::shared_real duration_;
00243 
00244 };
00245 
00246 }
00247 }
00248 
00249 #endif /* JOINT_TRAJ_PT_H */


dx100
Author(s): Shaun Edwards (Southwest Research Institute)
autogenerated on Mon Oct 6 2014 02:25:33