joint_message.h
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00001 /*
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00004  * Copyright (c) 2011, Southwest Research Institute
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00016  *      of its contributors may be used to endorse or promote products derived
00017  *      from this software without specific prior written permission.
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00031 
00032 #ifndef JOINT_MESSAGE_H
00033 #define JOINT_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_data.h"
00040 #else
00041 #include "typed_message.h"
00042 #include "simple_message.h"
00043 #include "shared_types.h"
00044 #include "joint_data.h"
00045 #endif
00046 
00047 namespace industrial
00048 {
00049 namespace joint_message
00050 {
00051 
00056 namespace SpecialSeqValues
00057 {
00058 enum SpecialSeqValue
00059 {
00060   END_TRAJECTORY = -1, STOP_TRAJECTORY = -2
00061 };
00062 }
00063 typedef SpecialSeqValues::SpecialSeqValue SpecialSeqValue;
00064 
00085 class JointMessage : public industrial::typed_message::TypedMessage
00086 {
00087 public:
00094   JointMessage(void);
00099   ~JointMessage(void);
00107   bool init(industrial::simple_message::SimpleMessage & msg);
00108 
00116   void init(industrial::shared_types::shared_int seq, industrial::joint_data::JointData & joints);
00117 
00122   void init();
00123 
00129   void setSequence(industrial::shared_types::shared_int sequence);
00130 
00136   industrial::shared_types::shared_int getSequence()
00137   {
00138     return sequence_;
00139   }
00140 
00146   industrial::joint_data::JointData& getJoints()
00147   {
00148     return this->joints_;
00149   }
00150 
00151   // Overrides - SimpleSerialize
00152   bool load(industrial::byte_array::ByteArray *buffer);
00153   bool unload(industrial::byte_array::ByteArray *buffer);
00154 
00155   unsigned int byteLength()
00156   {
00157     return sizeof(industrial::shared_types::shared_int) + this->joints_.byteLength();
00158   }
00159 
00160 private:
00164   industrial::shared_types::shared_int sequence_;
00168   industrial::joint_data::JointData joints_;
00169 
00170 };
00171 
00172 }
00173 }
00174 
00175 #endif /* JOINT_MESSAGE_H */


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