Public Member Functions | Private Attributes | List of all members
industrial::joint_traj_pt_full::JointTrajPtFull 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_full.h>

Inheritance diagram for industrial::joint_traj_pt_full::JointTrajPtFull:
Inheritance graph
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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 trajectory point timestamp. More...
 
void clearVelocities ()
 Clears the velocity data. More...
 
void copyFrom (JointTrajPtFull &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...
 
industrial::shared_types::shared_int getSequence ()
 Returns joint trajectory point sequence number. More...
 
bool getTime (industrial::shared_types::shared_real &time)
 Returns joint trajectory point timestamp. More...
 
bool getVelocities (industrial::joint_data::JointData &dest)
 Returns a copy of the velocity data. More...
 
void init ()
 Initializes a empty joint trajectory point. More...
 
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. More...
 
bool is_valid (ValidFieldType field)
 check the validity state for a given field More...
 
 JointTrajPtFull (void)
 Default constructor. More...
 
bool load (industrial::byte_array::ByteArray *buffer)
 Virtual method for loading an object into a ByteArray. More...
 
bool operator== (JointTrajPtFull &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 setSequence (industrial::shared_types::shared_int sequence)
 Sets joint trajectory point sequence number. More...
 
void setTime (industrial::shared_types::shared_real time)
 Sets joint trajectory point 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...
 
 ~JointTrajPtFull (void)
 Destructor. More...
 

Private Attributes

industrial::joint_data::JointData accelerations_
 joint trajectory point acceleration data More...
 
industrial::joint_data::JointData positions_
 joint trajectory point 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_int sequence_
 trajectory sequence number More...
 
industrial::shared_types::shared_real time_
 joint trajectory point timestamp Typically, time_from_start of this trajectory (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 trajectory point velocity data 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 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

◆ JointTrajPtFull()

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.

◆ ~JointTrajPtFull()

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

Destructor.

Definition at line 53 of file joint_traj_pt_full.cpp.

Member Function Documentation

◆ byteLength()

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

◆ clearAccelerations()

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

Clears the acceleration data.

Definition at line 298 of file joint_traj_pt_full.h.

◆ clearPositions()

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

Clears the position data.

Definition at line 235 of file joint_traj_pt_full.h.

◆ clearTime()

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.

◆ clearVelocities()

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

Clears the velocity data.

Definition at line 267 of file joint_traj_pt_full.h.

◆ copyFrom()

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.

◆ getAccelerations()

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

Returns a copy of the acceleration data.

Parameters
destreturned joint acceleration
Returns
true if this field contains valid data

Definition at line 289 of file joint_traj_pt_full.h.

◆ getPositions()

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

Returns a copy of the position data.

Parameters
destreturned joint position
Returns
true if this field contains valid data

Definition at line 226 of file joint_traj_pt_full.h.

◆ getRobotID()

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.

◆ getSequence()

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.

◆ getTime()

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

Returns joint trajectory point timestamp.

Parameters
timereturned time value
Returns
true if this field contains valid data

Definition at line 194 of file joint_traj_pt_full.h.

◆ getVelocities()

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

Returns a copy of the velocity data.

Parameters
destreturned joint velocity
Returns
true if this field contains valid data

Definition at line 258 of file joint_traj_pt_full.h.

◆ init() [1/2]

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.

◆ init() [2/2]

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.

◆ is_valid()

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

check the validity state for a given field

Parameters
fieldfield to check
Returns
true if specified field contains valid data

Definition at line 324 of file joint_traj_pt_full.h.

◆ load()

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
bufferpointer 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.

◆ operator==()

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.

◆ setAccelerations()

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

Sets joint acceleration data.

Parameters
accelerationsnew joint acceleration data

Definition at line 277 of file joint_traj_pt_full.h.

◆ setPositions()

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

Sets joint position data.

Parameters
positionsnew joint position data

Definition at line 214 of file joint_traj_pt_full.h.

◆ setRobotID()

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_idnew robot_id value

Definition at line 141 of file joint_traj_pt_full.h.

◆ setSequence()

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

Sets joint trajectory point sequence number.

Parameters
sequencevalue

Definition at line 162 of file joint_traj_pt_full.h.

◆ setTime()

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

Sets joint trajectory point timestamp.

Parameters
timenew time value

Definition at line 182 of file joint_traj_pt_full.h.

◆ setVelocities()

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

Sets joint velocity data.

Parameters
velocitiesnew joint velocity data

Definition at line 246 of file joint_traj_pt_full.h.

◆ unload()

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
bufferpointer 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

◆ accelerations_

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.

◆ positions_

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.

◆ robot_id_

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.

◆ sequence_

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.

◆ time_

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.

◆ valid_fields_

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.

◆ velocities_

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:


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