motoman_motion_ctrl_message.h

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#ifndef MOTOMAN_MOTION_CTRL_MESSAGE_H
#define MOTOMAN_MOTION_CTRL_MESSAGE_H

#ifdef ROS
#include "simple_message/typed_message.h"
#include "simple_message/shared_types.h"
#include "fs100/simple_message/motoman_simple_message.h"
#include "fs100/simple_message/motoman_motion_ctrl.h"

#endif

#ifdef MOTOPLUS
#include "typed_message.h"
#include "shared_types.h"
#include "motoman_simple_message.h"
#include "motoman_motion_ctrl.h"

#endif

namespace motoman
{
namespace simple_message
{
namespace motion_ctrl_message
{


class MotionCtrlMessage : public industrial::typed_message::TypedMessage

{
public:
  MotionCtrlMessage(void);
  ~MotionCtrlMessage(void);
  bool init(industrial::simple_message::SimpleMessage & msg);

  void init(motoman::simple_message::motion_ctrl::MotionCtrl & cmd);

  void init();

  // Overrides - SimpleSerialize
  bool load(industrial::byte_array::ByteArray *buffer);
  bool unload(industrial::byte_array::ByteArray *buffer);

  unsigned int byteLength()
  {
    return this->cmd_.byteLength();
  }

  motoman::simple_message::motion_ctrl::MotionCtrl cmd_;

private:


};

}
}
}

#endif /* MOTOMAN_MOTION_CTRL_MESSAGE_H */