Class encapsulated motion control data. These control messages are required to download command-trajectories to the FS100 controller. Trajectory data is provided in a separate JointTrajPtFull message. These control commands are motoman-specific. More...
#include <motoman_motion_ctrl.h>
Private Attributes | |
industrial::shared_types::shared_int | command_ |
Motion-control command. More... | |
industrial::shared_types::shared_real | data_ [MAX_DATA_CNT] |
Motion-control command data Contents of data-buffer are specific to each command. More... | |
industrial::shared_types::shared_int | robot_id_ |
Robot/group ID. 0 = 1st robot. More... | |
industrial::shared_types::shared_int | sequence_ |
Message-tracking number that will be echoed back in reply message. More... | |
Static Private Attributes | |
static const size_t | MAX_DATA_CNT = 10 |
Maximum length (# of float elements) of data buffer. More... | |
Class encapsulated motion control data. These control messages are required to download command-trajectories to the FS100 controller. Trajectory data is provided in a separate JointTrajPtFull message. These control commands are motoman-specific.
The byte representation of a motion control command is as follows (in order 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 command (industrial::shared_types::shared_int) 4 bytes data[10] (industrial::shared_types::shared_real) 40 bytes
THIS CLASS IS NOT THREAD-SAFE
Definition at line 91 of file motoman_motion_ctrl.h.
motoman::simple_message::motion_ctrl::MotionCtrl::MotionCtrl | ( | void | ) |
Default constructor.
This method creates empty data.
Definition at line 53 of file motoman_motion_ctrl.cpp.
motoman::simple_message::motion_ctrl::MotionCtrl::~MotionCtrl | ( | void | ) |
Destructor.
Definition at line 57 of file motoman_motion_ctrl.cpp.
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inlinevirtual |
Implements industrial::simple_serialize::SimpleSerialize.
Definition at line 244 of file motoman_motion_ctrl.h.
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inline |
Clears command data.
Definition at line 185 of file motoman_motion_ctrl.h.
void motoman::simple_message::motion_ctrl::MotionCtrl::copyFrom | ( | MotionCtrl & | src | ) |
Copies the passed in value.
src | (value to copy) |
Definition at line 76 of file motoman_motion_ctrl.cpp.
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inline |
Returns motion control command.
Definition at line 177 of file motoman_motion_ctrl.h.
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inline |
Returns command data.
idx | data-index to get |
Definition at line 212 of file motoman_motion_ctrl.h.
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inline |
Returns target robot/group # for this command.
Definition at line 137 of file motoman_motion_ctrl.h.
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inline |
Returns control command's sequence number.
Definition at line 157 of file motoman_motion_ctrl.h.
void motoman::simple_message::motion_ctrl::MotionCtrl::init | ( | ) |
Initializes a empty motion control command.
Definition at line 61 of file motoman_motion_ctrl.cpp.
void motoman::simple_message::motion_ctrl::MotionCtrl::init | ( | industrial::shared_types::shared_int | robot_id, |
industrial::shared_types::shared_int | sequence, | ||
MotionControlCmd | command, | ||
industrial::shared_types::shared_real | data | ||
) |
Initializes a complete motion control command.
Definition at line 66 of file motoman_motion_ctrl.cpp.
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virtual |
Implements industrial::simple_serialize::SimpleSerialize.
Definition at line 97 of file motoman_motion_ctrl.cpp.
bool motoman::simple_message::motion_ctrl::MotionCtrl::operator== | ( | MotionCtrl & | rhs | ) |
== operator implementation
Definition at line 85 of file motoman_motion_ctrl.cpp.
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inline |
Sets motion control command.
command | motion-control command value |
Definition at line 167 of file motoman_motion_ctrl.h.
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inline |
Sets command data.
idx | index to set |
val | data value |
Definition at line 197 of file motoman_motion_ctrl.h.
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inline |
Sets robot_id.
robot_id | target robot/group # for this command |
Definition at line 127 of file motoman_motion_ctrl.h.
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inline |
Sets control command's sequence number.
sequence | value |
Definition at line 147 of file motoman_motion_ctrl.h.
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virtual |
Implements industrial::simple_serialize::SimpleSerialize.
Definition at line 134 of file motoman_motion_ctrl.cpp.
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private |
Motion-control command.
Definition at line 265 of file motoman_motion_ctrl.h.
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private |
Motion-control command data Contents of data-buffer are specific to each command.
Definition at line 276 of file motoman_motion_ctrl.h.
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staticprivate |
Maximum length (# of float elements) of data buffer.
Definition at line 270 of file motoman_motion_ctrl.h.
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private |
Robot/group ID. 0 = 1st robot.
Definition at line 255 of file motoman_motion_ctrl.h.
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private |
Message-tracking number that will be echoed back in reply message.
Definition at line 260 of file motoman_motion_ctrl.h.