Class encapsulated joint feedback data. This data represents the current state of each robot joint, including position/velocity/acceleration. The specific interpretation of this data (actual vs. commanded, timestamp, etc.) is up to the robot-controller implementation. More...

#include <joint_feedback.h>

Inheritance diagram for industrial::joint_feedback::JointFeedback:

[legend]

Public Member Functions
unsigned int	byteLength ()
	Virtual method returns the object size when packed into a ByteArray. More...

void	clearAccelerations ()
	Clears the acceleration data. More...

void	clearPositions ()
	Clears the position data. More...

void	clearTime ()
	Clears the joint feedback timestamp. More...

void	clearVelocities ()
	Clears the velocity data. More...

void	copyFrom (JointFeedback &src)
	Copies the passed in value. More...

bool	getAccelerations (industrial::joint_data::JointData &dest)
	Returns a copy of the acceleration data. More...

bool	getPositions (industrial::joint_data::JointData &dest)
	Returns a copy of the position data. More...

industrial::shared_types::shared_int	getRobotID ()
	Gets robot_id. Robot group # (0-based), for controllers with multiple axis-groups. More...

bool	getTime (industrial::shared_types::shared_real &time)
	Returns joint feedback timestamp. More...

bool	getVelocities (industrial::joint_data::JointData &dest)
	Returns a copy of the velocity data. More...

void	init ()
	Initializes a empty joint feedback. More...

void	init (industrial::shared_types::shared_int robot_id, 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 joint feedback. More...

bool	is_valid (ValidFieldType field)
	check the validity state for a given field More...

	JointFeedback (void)
	Default constructor. More...

bool	load (industrial::byte_array::ByteArray *buffer)
	Virtual method for loading an object into a ByteArray. More...

bool	operator== (JointFeedback &rhs)
	== operator implementation More...

void	setAccelerations (industrial::joint_data::JointData &accelerations)
	Sets joint acceleration data. More...

void	setPositions (industrial::joint_data::JointData &positions)
	Sets joint position data. More...

void	setRobotID (industrial::shared_types::shared_int robot_id)
	Sets robot_id. Robot group # (0-based), for controllers with multiple axis-groups. More...

void	setTime (industrial::shared_types::shared_real time)
	Sets joint feedback timestamp. More...

void	setVelocities (industrial::joint_data::JointData &velocities)
	Sets joint velocity data. More...

bool	unload (industrial::byte_array::ByteArray *buffer)
	Virtual method for unloading an object from a ByteArray. More...

	~JointFeedback (void)
	Destructor. More...

Private Attributes
industrial::joint_data::JointData	accelerations_
	joint feedback acceleration data More...

industrial::joint_data::JointData	positions_
	joint feedback positional data More...

industrial::shared_types::shared_int	robot_id_
	robot group # (0-based) for controllers that support multiple axis-groups More...

industrial::shared_types::shared_real	time_
	joint data timestamp Typically, time since controller booted (in seconds) More...

industrial::shared_types::shared_int	valid_fields_
	bit-mask of (optional) fields that have been initialized with valid data More...

industrial::joint_data::JointData	velocities_
	joint feedback velocity data More...

Detailed Description

Class encapsulated joint feedback data. This data represents the current state of each robot joint, including position/velocity/acceleration. The specific interpretation of this data (actual vs. commanded, timestamp, etc.) is up to the robot-controller implementation.

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 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 83 of file joint_feedback.h.

Constructor & Destructor Documentation

industrial::joint_feedback::JointFeedback::JointFeedback ( void )

Default constructor.

This method creates empty data.

Definition at line 49 of file joint_feedback.cpp.

industrial::joint_feedback::JointFeedback::~JointFeedback ( void )

Destructor.

Definition at line 53 of file joint_feedback.cpp.

Member Function Documentation

unsigned int industrial::joint_feedback::JointFeedback::byteLength ( )

inlinevirtual

Virtual method returns the object size when packed into a ByteArray.

Returns: object size (in bytes)

Implements industrial::simple_serialize::SimpleSerialize.

Definition at line 294 of file joint_feedback.h.

void industrial::joint_feedback::JointFeedback::clearAccelerations ( )

inline

Clears the acceleration data.

Definition at line 260 of file joint_feedback.h.

void industrial::joint_feedback::JointFeedback::clearPositions ( )

inline

Clears the position data.

Definition at line 197 of file joint_feedback.h.

void industrial::joint_feedback::JointFeedback::clearTime ( )

inline

Clears the joint feedback timestamp.

Definition at line 165 of file joint_feedback.h.

void industrial::joint_feedback::JointFeedback::clearVelocities ( )

inline

Clears the velocity data.

Definition at line 229 of file joint_feedback.h.

void industrial::joint_feedback::JointFeedback::copyFrom ( JointFeedback & src )

Copies the passed in value.

Parameters

src	(value to copy)

Definition at line 83 of file joint_feedback.cpp.

bool industrial::joint_feedback::JointFeedback::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 251 of file joint_feedback.h.

bool industrial::joint_feedback::JointFeedback::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 188 of file joint_feedback.h.

industrial::shared_types::shared_int industrial::joint_feedback::JointFeedback::getRobotID ( )

inline

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

Returns: robot_id value

Definition at line 134 of file joint_feedback.h.

bool industrial::joint_feedback::JointFeedback::getTime ( industrial::shared_types::shared_real & time )

inline

Returns joint feedback timestamp.

Parameters

time	returned time value

Returns: true if this field contains valid data

Definition at line 156 of file joint_feedback.h.

bool industrial::joint_feedback::JointFeedback::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 220 of file joint_feedback.h.

void industrial::joint_feedback::JointFeedback::init ( )

Initializes a empty joint feedback.

Definition at line 58 of file joint_feedback.cpp.

void industrial::joint_feedback::JointFeedback::init	(	industrial::shared_types::shared_int	robot_id,
		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 joint feedback.

Definition at line 68 of file joint_feedback.cpp.

bool industrial::joint_feedback::JointFeedback::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 286 of file joint_feedback.h.

bool industrial::joint_feedback::JointFeedback::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 103 of file joint_feedback.cpp.

bool industrial::joint_feedback::JointFeedback::operator== ( JointFeedback & rhs )

== operator implementation

Returns: true if equal

Definition at line 93 of file joint_feedback.cpp.

void industrial::joint_feedback::JointFeedback::setAccelerations ( industrial::joint_data::JointData & accelerations )

inline

Sets joint acceleration data.

Parameters

accelerations new joint acceleration data

Definition at line 239 of file joint_feedback.h.

void industrial::joint_feedback::JointFeedback::setPositions ( industrial::joint_data::JointData & positions )

inline

Sets joint position data.

Parameters

positions new joint position data

Definition at line 176 of file joint_feedback.h.

void industrial::joint_feedback::JointFeedback::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 123 of file joint_feedback.h.

void industrial::joint_feedback::JointFeedback::setTime ( industrial::shared_types::shared_real time )

inline

Sets joint feedback timestamp.

Parameters

time	new time value

Definition at line 144 of file joint_feedback.h.

void industrial::joint_feedback::JointFeedback::setVelocities ( industrial::joint_data::JointData & velocities )

inline

Sets joint velocity data.

Parameters

velocities new joint velocity data

Definition at line 208 of file joint_feedback.h.

bool industrial::joint_feedback::JointFeedback::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 147 of file joint_feedback.cpp.

Member Data Documentation

industrial::joint_data::JointData industrial::joint_feedback::JointFeedback::accelerations_

private

joint feedback acceleration data

Definition at line 327 of file joint_feedback.h.

industrial::joint_data::JointData industrial::joint_feedback::JointFeedback::positions_

private

joint feedback positional data

Definition at line 320 of file joint_feedback.h.

industrial::shared_types::shared_int industrial::joint_feedback::JointFeedback::robot_id_

private

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

Definition at line 305 of file joint_feedback.h.

industrial::shared_types::shared_real industrial::joint_feedback::JointFeedback::time_

private

joint data timestamp Typically, time since controller booted (in seconds)

Definition at line 315 of file joint_feedback.h.

industrial::shared_types::shared_int industrial::joint_feedback::JointFeedback::valid_fields_

private

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

See also: enum ValidFieldTypes

Definition at line 310 of file joint_feedback.h.

industrial::joint_data::JointData industrial::joint_feedback::JointFeedback::velocities_

private

joint feedback velocity data

Definition at line 324 of file joint_feedback.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