joint_traj.h
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00001 /*
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00004  * Copyright (c) 2011, Southwest Research Institute
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00031 
00032 #ifndef JOINT_TRAJ_H
00033 #define JOINT_TRAJ_H
00034 
00035 #ifndef FLATHEADERS
00036 #include "simple_message/simple_message.h"
00037 #include "simple_message/simple_serialize.h"
00038 #include "simple_message/shared_types.h"
00039 #include "simple_message/joint_traj_pt.h"
00040 #else
00041 #include "simple_message.h"
00042 #include "simple_serialize.h"
00043 #include "shared_types.h"
00044 #include "joint_traj_pt.h"
00045 #endif
00046 
00047 
00048 
00049 namespace industrial
00050 {
00051 namespace joint_traj
00052 {
00053 
00063 //* JointTraj
00070 class JointTraj : public industrial::simple_serialize::SimpleSerialize
00071 {
00072 public:
00079         JointTraj(void);
00084         ~JointTraj(void);
00085 
00090         void init();
00091 
00099         bool addPoint(industrial::joint_traj_pt::JointTrajPt & point);
00100 
00109         bool getPoint(industrial::shared_types::shared_int index,
00110                         industrial::joint_traj_pt::JointTrajPt & point);
00116         industrial::shared_types::shared_int size()
00117         {
00118                 return this->size_;
00119         }
00120 
00126         bool isFull()
00127         {
00128                 return this->size_ >= this->getMaxNumPoints();
00129         }
00130 
00136         int getMaxNumPoints() const
00137         {
00138                 return MAX_NUM_POINTS;
00139         }
00140 
00146         void copyFrom(JointTraj &src);
00147 
00153         bool operator==(JointTraj &rhs);
00154 
00155         // Overrides - SimpleSerialize
00156         bool load(industrial::byte_array::ByteArray *buffer);
00157         bool unload(industrial::byte_array::ByteArray *buffer);
00158         unsigned int byteLength()
00159         {
00160                 industrial::joint_traj_pt::JointTrajPt pt;
00161                 return this->size() * pt.byteLength();
00162         }
00163 
00164 private:
00165 
00169         static const industrial::shared_types::shared_int MAX_NUM_POINTS = 200;
00173         industrial::joint_traj_pt::JointTrajPt points_[MAX_NUM_POINTS];
00177         industrial::shared_types::shared_int size_;
00178 
00179 };
00180 
00181 }
00182 }
00183 
00184 #endif /* JOINT_TRAJ_H */


simple_message
Author(s): Shaun Edwards
autogenerated on Tue Jan 17 2017 21:10:02