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_MESSAGE_H 00033 #define JOINT_TRAJ_PT_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_traj_pt.h" 00040 00041 #endif 00042 00043 #ifdef MOTOPLUS 00044 #include "typed_message.h" 00045 #include "simple_message.h" 00046 #include "shared_types.h" 00047 #include "joint_traj_pt.h" 00048 00049 #endif 00050 00051 namespace industrial 00052 { 00053 namespace joint_traj_pt_message 00054 { 00055 00056 00069 class JointTrajPtMessage : public industrial::typed_message::TypedMessage 00070 00071 { 00072 public: 00079 JointTrajPtMessage(void); 00084 ~JointTrajPtMessage(void); 00092 bool init(industrial::simple_message::SimpleMessage & msg); 00093 00100 void init(industrial::joint_traj_pt::JointTrajPt & point); 00101 00106 void init(); 00107 00108 // Overrides - SimpleSerialize 00109 bool load(industrial::byte_array::ByteArray *buffer); 00110 bool unload(industrial::byte_array::ByteArray *buffer); 00111 00112 unsigned int byteLength() 00113 { 00114 return this->point_.byteLength(); 00115 } 00116 00122 void setSequence(industrial::shared_types::shared_int sequence) { point_.setSequence(sequence); } 00123 00124 industrial::joint_traj_pt::JointTrajPt point_; 00125 00126 private: 00127 00128 00129 }; 00130 00131 } 00132 } 00133 00134 #endif /* JOINT_TRAJ_PT_MESSAGE_H */