joint_feedback_message.h
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00001 /*
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00004  * Copyright (c) 2013, Southwest Research Institute
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00007  * Redistribution and use in source and binary forms, with or without
00008  * modification, are permitted provided that the following conditions are met:
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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"
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00031 
00032 #ifndef JOINT_FEEDBACK_MESSAGE_H
00033 #define JOINT_FEEDBACK_MESSAGE_H
00034 
00035 #ifndef FLATHEADERS
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_feedback.h"
00040 #else
00041 #include "typed_message.h"
00042 #include "simple_message.h"
00043 #include "shared_types.h"
00044 #include "joint_feedback.h"
00045 #endif
00046 
00047 namespace industrial
00048 {
00049 namespace joint_feedback_message
00050 {
00051 
00052 
00065 class JointFeedbackMessage : public industrial::typed_message::TypedMessage
00066 
00067 {
00068 public:
00075   JointFeedbackMessage(void);
00080   ~JointFeedbackMessage(void);
00088   bool init(industrial::simple_message::SimpleMessage & msg);
00089 
00096   void init(industrial::joint_feedback::JointFeedback & data);
00097 
00102   void init();
00103 
00104   // Overrides - SimpleSerialize
00105   bool load(industrial::byte_array::ByteArray *buffer);
00106   bool unload(industrial::byte_array::ByteArray *buffer);
00107 
00108   unsigned int byteLength()
00109   {
00110     return this->data_.byteLength();
00111   }
00112 
00113   industrial::shared_types::shared_int getRobotID()
00114   {
00115     return this->data_.getRobotID();
00116   }
00117 
00118   bool getTime(industrial::shared_types::shared_real & time)
00119   {
00120     return this->data_.getTime(time);
00121   }
00122 
00123   bool getPositions(industrial::joint_data::JointData &dest)
00124   {
00125     return this->data_.getPositions(dest);
00126   }
00127 
00128   bool getVelocities(industrial::joint_data::JointData &dest)
00129   {
00130     return this->data_.getVelocities(dest);
00131   }
00132 
00133   bool getAccelerations(industrial::joint_data::JointData &dest)
00134   {
00135     return this->data_.getAccelerations(dest);
00136   }
00137 
00138 private:
00139 
00140   industrial::joint_feedback::JointFeedback data_;
00141 
00142 };
00143 
00144 }
00145 }
00146 
00147 #endif /* JOINT_FEEDBACK_MESSAGE_H */


simple_message
Author(s): Shaun Edwards
autogenerated on Sat Jun 8 2019 20:43:23