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 #ifdef ROS
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 #endif
00041 
00042 #ifdef MOTOPLUS
00043 #include "simple_message.h"
00044 #include "simple_serialize.h"
00045 #include "shared_types.h"
00046 #include "joint_traj_pt.h"
00047 #endif
00048 
00049 
00050 
00051 namespace industrial
00052 {
00053 namespace joint_traj
00054 {
00055 
00062 //* JointTraj
00069 class JointTraj : public industrial::simple_serialize::SimpleSerialize
00070 {
00071 public:
00078         JointTraj(void);
00083         ~JointTraj(void);
00084 
00089         void init();
00090 
00098         bool addPoint(industrial::joint_traj_pt::JointTrajPt & point);
00099 
00108         bool getPoint(industrial::shared_types::shared_int index,
00109                         industrial::joint_traj_pt::JointTrajPt & point);
00115         industrial::shared_types::shared_int size()
00116         {
00117                 return this->size_;
00118         }
00119 
00125         bool isFull()
00126         {
00127                 return this->size_ >= this->getMaxNumPoints();
00128         }
00129 
00135         int getMaxNumPoints() const
00136         {
00137                 return MAX_NUM_POINTS;
00138         }
00139 
00145         void copyFrom(JointTraj &src);
00146 
00152         bool operator==(JointTraj &rhs);
00153 
00154         // Overrides - SimpleSerialize
00155         bool load(industrial::byte_array::ByteArray *buffer);
00156         bool unload(industrial::byte_array::ByteArray *buffer);
00157         unsigned int byteLength()
00158         {
00159                 industrial::joint_traj_pt::JointTrajPt pt;
00160                 return this->size() * pt.byteLength();
00161         }
00162 
00163 private:
00164 
00168         static const industrial::shared_types::shared_int MAX_NUM_POINTS = 200;
00172         industrial::joint_traj_pt::JointTrajPt points_[MAX_NUM_POINTS];
00176         industrial::shared_types::shared_int size_;
00177 
00178 };
00179 
00180 }
00181 }
00182 
00183 #endif /* JOINT_TRAJ_H */


dx100
Author(s): Shaun Edwards (Southwest Research Institute)
autogenerated on Thu Jan 2 2014 11:29:36