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 */