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_full.h>

Inheritance diagram for industrial::joint_traj_pt_full::JointTrajPtFull:

[legend]

List of all members.

Public Member Functions
unsigned int	byteLength ()
	Virtual method returns the object size when packed into a ByteArray.
void	clearAccelerations ()
	Clears the acceleration data.
void	clearPositions ()
	Clears the position data.
void	clearTime ()
	Clears the joint trajectory point timestamp.
void	clearVelocities ()
	Clears the velocity data.
void	copyFrom (JointTrajPtFull &src)
	Copies the passed in value.
bool	getAccelerations (industrial::joint_data::JointData &dest)
	Returns a copy of the acceleration data.
bool	getPositions (industrial::joint_data::JointData &dest)
	Returns a copy of the position data.
industrial::shared_types::shared_int	getRobotID ()
	Gets robot_id. Robot group # (0-based), for controllers with multiple axis-groups.
industrial::shared_types::shared_int	getSequence ()
	Returns joint trajectory point sequence number.
bool	getTime (industrial::shared_types::shared_real &time)
	Returns joint trajectory point timestamp.
bool	getVelocities (industrial::joint_data::JointData &dest)
	Returns a copy of the velocity data.
void	init ()
	Initializes a empty joint trajectory point.
void	init (industrial::shared_types::shared_int robot_id, industrial::shared_types::shared_int sequence, industrial::shared_types::shared_int valid_fields, industrial::shared_types::shared_real time, industrial::joint_data::JointData &positions, industrial::joint_data::JointData &velocities, industrial::joint_data::JointData &accelerations)
	Initializes a complete trajectory point.
bool	is_valid (ValidFieldType field)
	check the validity state for a given field
	JointTrajPtFull (void)
	Default constructor.
bool	load (industrial::byte_array::ByteArray *buffer)
	Virtual method for loading an object into a ByteArray.
bool	operator== (JointTrajPtFull &rhs)
	== operator implementation
void	setAccelerations (industrial::joint_data::JointData &accelerations)
	Sets joint acceleration data.
void	setPositions (industrial::joint_data::JointData &positions)
	Sets joint position data.
void	setRobotID (industrial::shared_types::shared_int robot_id)
	Sets robot_id. Robot group # (0-based), for controllers with multiple axis-groups.
void	setSequence (industrial::shared_types::shared_int sequence)
	Sets joint trajectory point sequence number.
void	setTime (industrial::shared_types::shared_real time)
	Sets joint trajectory point timestamp.
void	setVelocities (industrial::joint_data::JointData &velocities)
	Sets joint velocity data.
bool	unload (industrial::byte_array::ByteArray *buffer)
	Virtual method for unloading an object from a ByteArray.
	~JointTrajPtFull (void)
	Destructor.
Private Attributes
industrial::joint_data::JointData	accelerations_
	joint trajectory point acceleration data
industrial::joint_data::JointData	positions_
	joint trajectory point positional data
industrial::shared_types::shared_int	robot_id_
	robot group # (0-based) for controllers that support multiple axis-groups
industrial::shared_types::shared_int	sequence_
	trajectory sequence number
industrial::shared_types::shared_real	time_
	joint trajectory point timestamp Typically, time_from_start of this trajectory (in seconds)
industrial::shared_types::shared_int	valid_fields_
	bit-mask of (optional) fields that have been initialized with valid data
industrial::joint_data::JointData	velocities_
	joint trajectory point velocity data

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 class is similar to the simple_message joint_traj_pt class, but this class provides the full message contents directly to the robot controller, rather than simplifying the velocity duration.

The message data-packet byte representation is as follows (ordered lowest index to highest). The standard sizes are given, but can change based on type sizes:

member: type size robot_id (industrial::shared_types::shared_int) 4 bytes sequence (industrial::shared_types::shared_int) 4 bytes valid_fields (industrial::shared_types::shared_int) 4 bytes time (industrial::shared_types::shared_real) 4 bytes positions (industrial::joint_data) 40 bytes velocities (industrial::joint_data) 40 bytes accelerations (industrial::joint_data) 40 bytes

THIS CLASS IS NOT THREAD-SAFE

Definition at line 100 of file joint_traj_pt_full.h.

Constructor & Destructor Documentation

industrial::joint_traj_pt_full::JointTrajPtFull::JointTrajPtFull ( void )

Default constructor.

This method creates empty data.

Definition at line 49 of file joint_traj_pt_full.cpp.

industrial::joint_traj_pt_full::JointTrajPtFull::~JointTrajPtFull ( void )

Destructor.

Definition at line 53 of file joint_traj_pt_full.cpp.

Member Function Documentation

unsigned int industrial::joint_traj_pt_full::JointTrajPtFull::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 332 of file joint_traj_pt_full.h.

void industrial::joint_traj_pt_full::JointTrajPtFull::clearAccelerations ( ) [inline]

Clears the acceleration data.

Definition at line 298 of file joint_traj_pt_full.h.

void industrial::joint_traj_pt_full::JointTrajPtFull::clearPositions ( ) [inline]

Clears the position data.

Definition at line 235 of file joint_traj_pt_full.h.

void industrial::joint_traj_pt_full::JointTrajPtFull::clearTime ( ) [inline]

Clears the joint trajectory point timestamp.

Definition at line 203 of file joint_traj_pt_full.h.

void industrial::joint_traj_pt_full::JointTrajPtFull::clearVelocities ( ) [inline]

Clears the velocity data.

Definition at line 267 of file joint_traj_pt_full.h.

void industrial::joint_traj_pt_full::JointTrajPtFull::copyFrom ( JointTrajPtFull & src )

Copies the passed in value.

Parameters:

src	(value to copy)

Definition at line 86 of file joint_traj_pt_full.cpp.

bool industrial::joint_traj_pt_full::JointTrajPtFull::getAccelerations ( industrial::joint_data::JointData & dest ) [inline]

Returns a copy of the acceleration data.

Parameters:

dest	returned joint acceleration

Returns:: true if this field contains valid data

Definition at line 289 of file joint_traj_pt_full.h.

bool industrial::joint_traj_pt_full::JointTrajPtFull::getPositions ( industrial::joint_data::JointData & dest ) [inline]

Returns a copy of the position data.

Parameters:

dest	returned joint position

Returns:: true if this field contains valid data

Definition at line 226 of file joint_traj_pt_full.h.

industrial::shared_types::shared_int industrial::joint_traj_pt_full::JointTrajPtFull::getRobotID ( ) [inline]

Gets robot_id. Robot group # (0-based), for controllers with multiple axis-groups.

Returns:: robot_id value

Definition at line 152 of file joint_traj_pt_full.h.

industrial::shared_types::shared_int industrial::joint_traj_pt_full::JointTrajPtFull::getSequence ( ) [inline]

Returns joint trajectory point sequence number.

Returns:: joint trajectory sequence number

Definition at line 172 of file joint_traj_pt_full.h.

bool industrial::joint_traj_pt_full::JointTrajPtFull::getTime ( industrial::shared_types::shared_real & time ) [inline]

Returns joint trajectory point timestamp.

Parameters:

time	returned time value

Returns:: true if this field contains valid data

Definition at line 194 of file joint_traj_pt_full.h.

bool industrial::joint_traj_pt_full::JointTrajPtFull::getVelocities ( industrial::joint_data::JointData & dest ) [inline]

Returns a copy of the velocity data.

Parameters:

dest	returned joint velocity

Returns:: true if this field contains valid data

Definition at line 258 of file joint_traj_pt_full.h.

void industrial::joint_traj_pt_full::JointTrajPtFull::init ( )

Initializes a empty joint trajectory point.

Definition at line 58 of file joint_traj_pt_full.cpp.

void industrial::joint_traj_pt_full::JointTrajPtFull::init	(	industrial::shared_types::shared_int	robot_id,
		industrial::shared_types::shared_int	sequence,
		industrial::shared_types::shared_int	valid_fields,
		industrial::shared_types::shared_real	time,
		industrial::joint_data::JointData &	positions,
		industrial::joint_data::JointData &	velocities,
		industrial::joint_data::JointData &	accelerations
	)

Initializes a complete trajectory point.

Definition at line 69 of file joint_traj_pt_full.cpp.

bool industrial::joint_traj_pt_full::JointTrajPtFull::is_valid ( ValidFieldType field ) [inline]

check the validity state for a given field

Parameters:

field field to check

Returns:: true if specified field contains valid data

Definition at line 324 of file joint_traj_pt_full.h.

bool industrial::joint_traj_pt_full::JointTrajPtFull::load ( industrial::byte_array::ByteArray * buffer ) [virtual]

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:

buffer pointer to ByteArray

Returns:: true on success, false otherwise (buffer not large enough)

Implements industrial::simple_serialize::SimpleSerialize.

Definition at line 108 of file joint_traj_pt_full.cpp.

bool industrial::joint_traj_pt_full::JointTrajPtFull::operator== ( JointTrajPtFull & rhs )

== operator implementation

Returns:: true if equal

Definition at line 97 of file joint_traj_pt_full.cpp.

void industrial::joint_traj_pt_full::JointTrajPtFull::setAccelerations ( industrial::joint_data::JointData & accelerations ) [inline]

Sets joint acceleration data.

Parameters:

accelerations new joint acceleration data

Definition at line 277 of file joint_traj_pt_full.h.

void industrial::joint_traj_pt_full::JointTrajPtFull::setPositions ( industrial::joint_data::JointData & positions ) [inline]

Sets joint position data.

Parameters:

positions new joint position data

Definition at line 214 of file joint_traj_pt_full.h.

void industrial::joint_traj_pt_full::JointTrajPtFull::setRobotID ( industrial::shared_types::shared_int robot_id ) [inline]

Sets robot_id. Robot group # (0-based), for controllers with multiple axis-groups.

Parameters:

robot_id new robot_id value

Definition at line 141 of file joint_traj_pt_full.h.

void industrial::joint_traj_pt_full::JointTrajPtFull::setSequence ( industrial::shared_types::shared_int sequence ) [inline]

Sets joint trajectory point sequence number.

Parameters:

sequence value

Definition at line 162 of file joint_traj_pt_full.h.

void industrial::joint_traj_pt_full::JointTrajPtFull::setTime ( industrial::shared_types::shared_real time ) [inline]

Sets joint trajectory point timestamp.

Parameters:

time	new time value

Definition at line 182 of file joint_traj_pt_full.h.

void industrial::joint_traj_pt_full::JointTrajPtFull::setVelocities ( industrial::joint_data::JointData & velocities ) [inline]

Sets joint velocity data.

Parameters:

velocities new joint velocity data

Definition at line 246 of file joint_traj_pt_full.h.

bool industrial::joint_traj_pt_full::JointTrajPtFull::unload ( industrial::byte_array::ByteArray * buffer ) [virtual]

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:

buffer pointer to ByteArray

Returns:: true on success, false otherwise (buffer not large enough)

Implements industrial::simple_serialize::SimpleSerialize.

Definition at line 158 of file joint_traj_pt_full.cpp.

Member Data Documentation

industrial::joint_data::JointData industrial::joint_traj_pt_full::JointTrajPtFull::accelerations_ [private]

joint trajectory point acceleration data

Definition at line 369 of file joint_traj_pt_full.h.

industrial::joint_data::JointData industrial::joint_traj_pt_full::JointTrajPtFull::positions_ [private]

joint trajectory point positional data

Definition at line 362 of file joint_traj_pt_full.h.

industrial::shared_types::shared_int industrial::joint_traj_pt_full::JointTrajPtFull::robot_id_ [private]

robot group # (0-based) for controllers that support multiple axis-groups

Definition at line 343 of file joint_traj_pt_full.h.

industrial::shared_types::shared_int industrial::joint_traj_pt_full::JointTrajPtFull::sequence_ [private]

trajectory sequence number

Definition at line 347 of file joint_traj_pt_full.h.

industrial::shared_types::shared_real industrial::joint_traj_pt_full::JointTrajPtFull::time_ [private]

joint trajectory point timestamp Typically, time_from_start of this trajectory (in seconds)

Definition at line 357 of file joint_traj_pt_full.h.

industrial::shared_types::shared_int industrial::joint_traj_pt_full::JointTrajPtFull::valid_fields_ [private]

bit-mask of (optional) fields that have been initialized with valid data

See also:: enum ValidFieldTypes

Definition at line 352 of file joint_traj_pt_full.h.

industrial::joint_data::JointData industrial::joint_traj_pt_full::JointTrajPtFull::velocities_ [private]

joint trajectory point velocity data

Definition at line 366 of file joint_traj_pt_full.h.

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

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation