joint_traj_pt.h

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#ifndef JOINT_TRAJ_PT_H
#define JOINT_TRAJ_PT_H

#ifdef ROS
#include "simple_message/joint_data.h"
#include "simple_message/simple_message.h"
#include "simple_message/simple_serialize.h"
#include "simple_message/shared_types.h"

#endif

#ifdef MOTOPLUS
#include "joint_data.h"
#include "simple_message.h"
#include "simple_serialize.h"
#include "shared_types.h"

#endif

namespace industrial
{
namespace joint_traj_pt
{

namespace SpecialSeqValues
{
enum SpecialSeqValue
{
  START_TRAJECTORY_DOWNLOAD = -1, START_TRAJECOTRY_STREAMING = -2, END_TRAJECTORY = -3, STOP_TRAJECTORY = -4
};
}
typedef SpecialSeqValues::SpecialSeqValue SpecialSeqValue;

class JointTrajPt : public industrial::simple_serialize::SimpleSerialize
{
public:
  JointTrajPt(void);
  ~JointTrajPt(void);

  void init();

  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);

  void setJointPosition(industrial::joint_data::JointData &position)
  {
    this->joint_position_.copyFrom(position);
  }

  void getJointPosition(industrial::joint_data::JointData &dest)
  {
    dest.copyFrom(this->joint_position_);
  }

  void setSequence(industrial::shared_types::shared_int sequence)
  {
    this->sequence_ = sequence;
  }

  industrial::shared_types::shared_int getSequence()
  {
    return this->sequence_;
  }

  void setVelocity(industrial::shared_types::shared_real velocity)
  {
    this->velocity_ = velocity;
  }

  industrial::shared_types::shared_real getVelocity()
  {
    return this->velocity_;
  }

    void setDuration(industrial::shared_types::shared_real duration)
    {
      this->duration_ = duration;
    }

    industrial::shared_types::shared_real getDuration()
    {
      return this->duration_;
    }

  void copyFrom(JointTrajPt &src);

  bool operator==(JointTrajPt &rhs);

  // Overrides - SimpleSerialize
  bool load(industrial::byte_array::ByteArray *buffer);
  bool unload(industrial::byte_array::ByteArray *buffer);
  unsigned int byteLength()
  {
    return sizeof(industrial::shared_types::shared_real) + sizeof(industrial::shared_types::shared_int)
        + this->joint_position_.byteLength();
  }

private:

  industrial::joint_data::JointData joint_position_;
  industrial::shared_types::shared_real velocity_;
  industrial::shared_types::shared_int sequence_;

  industrial::shared_types::shared_real duration_;

};

}
}

#endif /* JOINT_TRAJ_PT_H */