Public Member Functions | Private Attributes
industrial::joint_traj_pt::JointTrajPt Class Reference

Class encapsulated joint trajectory point data. The point data serves as a waypoint along a trajectory and is meant to mirror the JointTrajectoryPoint message. More...

#include <joint_traj_pt.h>

Inheritance diagram for industrial::joint_traj_pt::JointTrajPt:
Inheritance graph
[legend]

List of all members.

Public Member Functions

unsigned int byteLength ()
 Virtual method returns the object size when packed into a ByteArray.
void copyFrom (JointTrajPt &src)
 Copies the passed in value.
industrial::shared_types::shared_real getDuration ()
 Returns joint trajectory point duration.
void getJointPosition (industrial::joint_data::JointData &dest)
 Returns a copy of the position data.
industrial::shared_types::shared_int getSequence ()
 Returns joint trajectory point sequence number.
industrial::shared_types::shared_real getVelocity ()
 Returns joint trajectory point velocity.
void init ()
 Initializes a empty joint trajectory point.
void init (industrial::shared_types::shared_int sequence, industrial::joint_data::JointData &position, industrial::shared_types::shared_real velocity, industrial::shared_types::shared_real duration)
 Initializes a complete trajectory point.
 JointTrajPt (void)
 Default constructor.
bool load (industrial::byte_array::ByteArray *buffer)
 Virtual method for loading an object into a ByteArray.
bool operator== (JointTrajPt &rhs)
 == operator implementation
void setDuration (industrial::shared_types::shared_real duration)
 Sets joint trajectory point duration.
void setJointPosition (industrial::joint_data::JointData &position)
 Sets joint position data.
void setSequence (industrial::shared_types::shared_int sequence)
 Sets joint trajectory point sequence number.
void setVelocity (industrial::shared_types::shared_real velocity)
 Sets joint trajectory point velocity.
bool unload (industrial::byte_array::ByteArray *buffer)
 Virtual method for unloading an object from a ByteArray.
 ~JointTrajPt (void)
 Destructor.

Private Attributes

industrial::shared_types::shared_real duration_
 joint move duration
industrial::joint_data::JointData joint_position_
 joint point positional data
industrial::shared_types::shared_int sequence_
 trajectory sequence number
industrial::shared_types::shared_real velocity_
 joint point velocity

Detailed Description

Class encapsulated joint trajectory point data. The point data serves as a waypoint along a trajectory and is meant to mirror the JointTrajectoryPoint message.

This point differs from the ROS trajectory point in the following ways:

The byte representation of a joint trajectory point is as follow (in order lowest index to highest). The standard sizes are given, but can change based on type sizes:

member: type size sequence (industrial::shared_types::shared_int) 4 bytes joints (industrial::joint_data) 40 bytes velocity (industrial::shared_types::shared_real) 4 bytes duration (industrial::shared_types::shared_real) 4 bytes

THIS CLASS IS NOT THREAD-SAFE

Definition at line 88 of file joint_traj_pt.h.


Constructor & Destructor Documentation

Default constructor.

This method creates empty data.

Definition at line 49 of file joint_traj_pt.cpp.

Destructor.

Definition at line 53 of file joint_traj_pt.cpp.


Member Function Documentation

unsigned int industrial::joint_traj_pt::JointTrajPt::byteLength ( ) [inline, virtual]

Virtual method returns the object size when packed into a ByteArray.

Returns:
object size (in bytes)

Implements industrial::simple_serialize::SimpleSerialize.

Definition at line 214 of file joint_traj_pt.h.

Copies the passed in value.

Parameters:
src(value to copy)

Definition at line 74 of file joint_traj_pt.cpp.

Returns joint trajectory point duration.

Returns:
joint trajectory velocity

Definition at line 192 of file joint_traj_pt.h.

Returns a copy of the position data.

Parameters:
jointposition dest

Definition at line 132 of file joint_traj_pt.h.

Returns joint trajectory point sequence number.

Returns:
joint trajectory sequence number

Definition at line 152 of file joint_traj_pt.h.

Returns joint trajectory point velocity.

Returns:
joint trajectory velocity

Definition at line 172 of file joint_traj_pt.h.

Initializes a empty joint trajectory point.

Definition at line 58 of file joint_traj_pt.cpp.

Initializes a complete trajectory point.

Definition at line 66 of file joint_traj_pt.cpp.

Virtual method for loading an object into a ByteArray.

This method should load all the required data to reconstruct the class object into the buffer

Parameters:
bufferpointer to ByteArray
Returns:
true on success, false otherwise (buffer not large enough)

Implements industrial::simple_serialize::SimpleSerialize.

Definition at line 89 of file joint_traj_pt.cpp.

bool industrial::joint_traj_pt::JointTrajPt::operator== ( JointTrajPt rhs)

== operator implementation

Returns:
true if equal

Definition at line 82 of file joint_traj_pt.cpp.

Sets joint trajectory point duration.

Parameters:
velocityvalue

Definition at line 182 of file joint_traj_pt.h.

Sets joint position data.

Parameters:
jointposition data

Definition at line 122 of file joint_traj_pt.h.

Sets joint trajectory point sequence number.

Parameters:
sequencevalue

Definition at line 142 of file joint_traj_pt.h.

Sets joint trajectory point velocity.

Parameters:
velocityvalue

Definition at line 162 of file joint_traj_pt.h.

Virtual method for unloading an object from a ByteArray.

This method should unload all the required data to reconstruct the class object (in place)

Parameters:
bufferpointer to ByteArray
Returns:
true on success, false otherwise (buffer not large enough)

Implements industrial::simple_serialize::SimpleSerialize.

Definition at line 135 of file joint_traj_pt.cpp.


Member Data Documentation

joint move duration

Definition at line 238 of file joint_traj_pt.h.

joint point positional data

Definition at line 225 of file joint_traj_pt.h.

trajectory sequence number

Definition at line 233 of file joint_traj_pt.h.

joint point velocity

Definition at line 229 of file joint_traj_pt.h.


The documentation for this class was generated from the following files:


simple_message
Author(s): Shaun Edwards
autogenerated on Sat Jun 8 2019 20:43:24