Public Member Functions | Private Attributes | List of all members
industrial::joint_traj_pt::JointTrajPt Class Reference

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.h>

Inheritance diagram for industrial::joint_traj_pt::JointTrajPt:
Inheritance graph
[legend]

Public Member Functions

unsigned int byteLength ()
 Virtual method returns the object size when packed into a ByteArray. More...
 
void copyFrom (JointTrajPt &src)
 Copies the passed in value. More...
 
industrial::shared_types::shared_real getDuration ()
 Returns joint trajectory point duration. More...
 
void getJointPosition (industrial::joint_data::JointData &dest)
 Returns a copy of the position data. More...
 
industrial::shared_types::shared_int getSequence ()
 Returns joint trajectory point sequence number. More...
 
industrial::shared_types::shared_real getVelocity ()
 Returns joint trajectory point velocity. More...
 
void init ()
 Initializes a empty joint trajectory point. More...
 
void init (industrial::shared_types::shared_int sequence, industrial::joint_data::JointData &position, industrial::shared_types::shared_real velocity, industrial::shared_types::shared_real duration)
 Initializes a complete trajectory point. More...
 
 JointTrajPt (void)
 Default constructor. More...
 
bool load (industrial::byte_array::ByteArray *buffer)
 Virtual method for loading an object into a ByteArray. More...
 
bool operator== (JointTrajPt &rhs)
 == operator implementation More...
 
void setDuration (industrial::shared_types::shared_real duration)
 Sets joint trajectory point duration. More...
 
void setJointPosition (industrial::joint_data::JointData &position)
 Sets joint position data. More...
 
void setSequence (industrial::shared_types::shared_int sequence)
 Sets joint trajectory point sequence number. More...
 
void setVelocity (industrial::shared_types::shared_real velocity)
 Sets joint trajectory point velocity. More...
 
bool unload (industrial::byte_array::ByteArray *buffer)
 Virtual method for unloading an object from a ByteArray. More...
 
 ~JointTrajPt (void)
 Destructor. More...
 

Private Attributes

industrial::shared_types::shared_real duration_
 joint move duration More...
 
industrial::joint_data::JointData joint_position_
 joint point positional data More...
 
industrial::shared_types::shared_int sequence_
 trajectory sequence number More...
 
industrial::shared_types::shared_real velocity_
 joint point velocity More...
 

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 point differs from the ROS trajectory point in the following ways:

The byte representation of a joint trajectory point is as follow (in order lowest index to highest). The standard sizes are given, but can change based on type sizes:

member: type size sequence (industrial::shared_types::shared_int) 4 bytes joints (industrial::joint_data) 40 bytes velocity (industrial::shared_types::shared_real) 4 bytes duration (industrial::shared_types::shared_real) 4 bytes

THIS CLASS IS NOT THREAD-SAFE

Definition at line 92 of file joint_traj_pt.h.

Constructor & Destructor Documentation

◆ JointTrajPt()

industrial::joint_traj_pt::JointTrajPt::JointTrajPt ( void  )

Default constructor.

This method creates empty data.

Definition at line 49 of file joint_traj_pt.cpp.

◆ ~JointTrajPt()

industrial::joint_traj_pt::JointTrajPt::~JointTrajPt ( void  )

Destructor.

Definition at line 53 of file joint_traj_pt.cpp.

Member Function Documentation

◆ byteLength()

unsigned int industrial::joint_traj_pt::JointTrajPt::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 218 of file joint_traj_pt.h.

◆ copyFrom()

void industrial::joint_traj_pt::JointTrajPt::copyFrom ( JointTrajPt src)

Copies the passed in value.

Parameters
src(value to copy)

Definition at line 74 of file joint_traj_pt.cpp.

◆ getDuration()

industrial::shared_types::shared_real industrial::joint_traj_pt::JointTrajPt::getDuration ( )
inline

Returns joint trajectory point duration.

Returns
joint trajectory velocity

Definition at line 196 of file joint_traj_pt.h.

◆ getJointPosition()

void industrial::joint_traj_pt::JointTrajPt::getJointPosition ( industrial::joint_data::JointData dest)
inline

Returns a copy of the position data.

Parameters
jointposition dest

Definition at line 136 of file joint_traj_pt.h.

◆ getSequence()

industrial::shared_types::shared_int industrial::joint_traj_pt::JointTrajPt::getSequence ( )
inline

Returns joint trajectory point sequence number.

Returns
joint trajectory sequence number

Definition at line 156 of file joint_traj_pt.h.

◆ getVelocity()

industrial::shared_types::shared_real industrial::joint_traj_pt::JointTrajPt::getVelocity ( )
inline

Returns joint trajectory point velocity.

Returns
joint trajectory velocity

Definition at line 176 of file joint_traj_pt.h.

◆ init() [1/2]

void industrial::joint_traj_pt::JointTrajPt::init ( )

Initializes a empty joint trajectory point.

Definition at line 58 of file joint_traj_pt.cpp.

◆ init() [2/2]

void industrial::joint_traj_pt::JointTrajPt::init ( industrial::shared_types::shared_int  sequence,
industrial::joint_data::JointData position,
industrial::shared_types::shared_real  velocity,
industrial::shared_types::shared_real  duration 
)

Initializes a complete trajectory point.

Definition at line 66 of file joint_traj_pt.cpp.

◆ load()

bool industrial::joint_traj_pt::JointTrajPt::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
bufferpointer to ByteArray
Returns
true on success, false otherwise (buffer not large enough)

Implements industrial::simple_serialize::SimpleSerialize.

Definition at line 89 of file joint_traj_pt.cpp.

◆ operator==()

bool industrial::joint_traj_pt::JointTrajPt::operator== ( JointTrajPt rhs)

== operator implementation

Returns
true if equal

Definition at line 82 of file joint_traj_pt.cpp.

◆ setDuration()

void industrial::joint_traj_pt::JointTrajPt::setDuration ( industrial::shared_types::shared_real  duration)
inline

Sets joint trajectory point duration.

Parameters
velocityvalue

Definition at line 186 of file joint_traj_pt.h.

◆ setJointPosition()

void industrial::joint_traj_pt::JointTrajPt::setJointPosition ( industrial::joint_data::JointData position)
inline

Sets joint position data.

Parameters
jointposition data

Definition at line 126 of file joint_traj_pt.h.

◆ setSequence()

void industrial::joint_traj_pt::JointTrajPt::setSequence ( industrial::shared_types::shared_int  sequence)
inline

Sets joint trajectory point sequence number.

Parameters
sequencevalue

Definition at line 146 of file joint_traj_pt.h.

◆ setVelocity()

void industrial::joint_traj_pt::JointTrajPt::setVelocity ( industrial::shared_types::shared_real  velocity)
inline

Sets joint trajectory point velocity.

Parameters
velocityvalue

Definition at line 166 of file joint_traj_pt.h.

◆ unload()

bool industrial::joint_traj_pt::JointTrajPt::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
bufferpointer to ByteArray
Returns
true on success, false otherwise (buffer not large enough)

Implements industrial::simple_serialize::SimpleSerialize.

Definition at line 134 of file joint_traj_pt.cpp.

Member Data Documentation

◆ duration_

industrial::shared_types::shared_real industrial::joint_traj_pt::JointTrajPt::duration_
private

joint move duration

Definition at line 242 of file joint_traj_pt.h.

◆ joint_position_

industrial::joint_data::JointData industrial::joint_traj_pt::JointTrajPt::joint_position_
private

joint point positional data

Definition at line 229 of file joint_traj_pt.h.

◆ sequence_

industrial::shared_types::shared_int industrial::joint_traj_pt::JointTrajPt::sequence_
private

trajectory sequence number

Definition at line 237 of file joint_traj_pt.h.

◆ velocity_

industrial::shared_types::shared_real industrial::joint_traj_pt::JointTrajPt::velocity_
private

joint point velocity

Definition at line 233 of file joint_traj_pt.h.


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


simple_message
Author(s): Shaun Edwards
autogenerated on Wed Mar 2 2022 00:24:53