Class encapsulated motion control data. These control messages are required to download command-trajectories to the FS100 controller. Trajectory data is provided in a separate JointTrajPtFull message. These control commands are motoman-specific. More...

#include <motoman_motion_ctrl.h>

Inheritance diagram for motoman::simple_message::motion_ctrl::MotionCtrl:

[legend]

List of all members.

Public Member Functions
unsigned int	byteLength ()
void	clearData ()
	Clears command data.
void	copyFrom (MotionCtrl &src)
	Copies the passed in value.
MotionControlCmd	getCommand ()
	Returns motion control command.
industrial::shared_types::shared_real	getData (size_t idx)
	Returns command data.
industrial::shared_types::shared_int	getRobotID ()
	Returns target robot/group # for this command.
industrial::shared_types::shared_int	getSequence ()
	Returns control command's sequence number.
void	init ()
	Initializes a empty motion control command.
void	init (industrial::shared_types::shared_int robot_id, industrial::shared_types::shared_int sequence, MotionControlCmd command, industrial::shared_types::shared_real data)
	Initializes a complete motion control command.
bool	load (industrial::byte_array::ByteArray *buffer)
	MotionCtrl (void)
	Default constructor.
bool	operator== (MotionCtrl &rhs)
	== operator implementation
void	setCommand (MotionControlCmd command)
	Sets motion control command.
void	setData (size_t idx, industrial::shared_types::shared_real val)
	Sets command data.
void	setRobotID (industrial::shared_types::shared_int robot_id)
	Sets robot_id.
void	setSequence (industrial::shared_types::shared_int sequence)
	Sets control command's sequence number.
bool	unload (industrial::byte_array::ByteArray *buffer)
	~MotionCtrl (void)
	Destructor.
Private Attributes
industrial::shared_types::shared_int	command_
	Motion-control command.
industrial::shared_types::shared_real	data_ [MAX_DATA_CNT]
	Motion-control command data Contents of data-buffer are specific to each command.
industrial::shared_types::shared_int	robot_id_
	Robot/group ID. 0 = 1st robot.
industrial::shared_types::shared_int	sequence_
	Message-tracking number that will be echoed back in reply message.
Static Private Attributes
static const size_t	MAX_DATA_CNT = 10
	Maximum length (# of float elements) of data buffer.

Detailed Description

Class encapsulated motion control data. These control messages are required to download command-trajectories to the FS100 controller. Trajectory data is provided in a separate JointTrajPtFull message. These control commands are motoman-specific.

The byte representation of a motion control command is as follows (in order 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 command (industrial::shared_types::shared_int) 4 bytes data[10] (industrial::shared_types::shared_real) 40 bytes

THIS CLASS IS NOT THREAD-SAFE

Definition at line 92 of file motoman_motion_ctrl.h.

Constructor & Destructor Documentation

motoman::simple_message::motion_ctrl::MotionCtrl::MotionCtrl ( void )

Default constructor.

This method creates empty data.

Definition at line 52 of file motoman_motion_ctrl.cpp.

motoman::simple_message::motion_ctrl::MotionCtrl::~MotionCtrl ( void )

Destructor.

Definition at line 56 of file motoman_motion_ctrl.cpp.

Member Function Documentation

unsigned int motoman::simple_message::motion_ctrl::MotionCtrl::byteLength ( ) [inline, virtual]

Implements industrial::simple_serialize::SimpleSerialize.

Definition at line 245 of file motoman_motion_ctrl.h.

void motoman::simple_message::motion_ctrl::MotionCtrl::clearData ( ) [inline]

Clears command data.

Definition at line 186 of file motoman_motion_ctrl.h.

void motoman::simple_message::motion_ctrl::MotionCtrl::copyFrom ( MotionCtrl & src )

Copies the passed in value.

Parameters:

src	(value to copy)

Definition at line 76 of file motoman_motion_ctrl.cpp.

MotionControlCmd motoman::simple_message::motion_ctrl::MotionCtrl::getCommand ( ) [inline]

Returns motion control command.

Returns:: motion-control command value

Definition at line 178 of file motoman_motion_ctrl.h.

industrial::shared_types::shared_real motoman::simple_message::motion_ctrl::MotionCtrl::getData ( size_t idx ) [inline]

Returns command data.

Parameters:

idx	data-index to get

Returns:: data value

Definition at line 213 of file motoman_motion_ctrl.h.

industrial::shared_types::shared_int motoman::simple_message::motion_ctrl::MotionCtrl::getRobotID ( ) [inline]

Returns target robot/group # for this command.

Returns:: robot_id

Definition at line 138 of file motoman_motion_ctrl.h.

industrial::shared_types::shared_int motoman::simple_message::motion_ctrl::MotionCtrl::getSequence ( ) [inline]

Returns control command's sequence number.

Returns:: control command sequence number

Definition at line 158 of file motoman_motion_ctrl.h.

void motoman::simple_message::motion_ctrl::MotionCtrl::init ( )

Initializes a empty motion control command.

Definition at line 61 of file motoman_motion_ctrl.cpp.

void motoman::simple_message::motion_ctrl::MotionCtrl::init	(	industrial::shared_types::shared_int	robot_id,
		industrial::shared_types::shared_int	sequence,
		MotionControlCmd	command,
		industrial::shared_types::shared_real	data
	)

Initializes a complete motion control command.

Definition at line 66 of file motoman_motion_ctrl.cpp.

bool motoman::simple_message::motion_ctrl::MotionCtrl::load ( industrial::byte_array::ByteArray * buffer ) [virtual]

Implements industrial::simple_serialize::SimpleSerialize.

Definition at line 97 of file motoman_motion_ctrl.cpp.

bool motoman::simple_message::motion_ctrl::MotionCtrl::operator== ( MotionCtrl & rhs )

== operator implementation

Returns:: true if equal

Definition at line 85 of file motoman_motion_ctrl.cpp.

void motoman::simple_message::motion_ctrl::MotionCtrl::setCommand ( MotionControlCmd command ) [inline]

Sets motion control command.

Parameters:

command motion-control command value

Definition at line 168 of file motoman_motion_ctrl.h.

void motoman::simple_message::motion_ctrl::MotionCtrl::setData	(	size_t	idx,
		industrial::shared_types::shared_real	val
	)		`[inline]`

Sets command data.

Parameters:

idx	index to set
val	data value

Definition at line 198 of file motoman_motion_ctrl.h.

void motoman::simple_message::motion_ctrl::MotionCtrl::setRobotID ( industrial::shared_types::shared_int robot_id ) [inline]

Sets robot_id.

Parameters:

robot_id target robot/group # for this command

Definition at line 128 of file motoman_motion_ctrl.h.

void motoman::simple_message::motion_ctrl::MotionCtrl::setSequence ( industrial::shared_types::shared_int sequence ) [inline]

Sets control command's sequence number.

Parameters:

sequence value

Definition at line 148 of file motoman_motion_ctrl.h.

bool motoman::simple_message::motion_ctrl::MotionCtrl::unload ( industrial::byte_array::ByteArray * buffer ) [virtual]

Implements industrial::simple_serialize::SimpleSerialize.

Definition at line 133 of file motoman_motion_ctrl.cpp.

Member Data Documentation

industrial::shared_types::shared_int motoman::simple_message::motion_ctrl::MotionCtrl::command_ [private]

Motion-control command.

Definition at line 267 of file motoman_motion_ctrl.h.

industrial::shared_types::shared_real motoman::simple_message::motion_ctrl::MotionCtrl::data_[MAX_DATA_CNT] [private]

Motion-control command data Contents of data-buffer are specific to each command.

Definition at line 278 of file motoman_motion_ctrl.h.

const size_t motoman::simple_message::motion_ctrl::MotionCtrl::MAX_DATA_CNT = 10 [static, private]

Maximum length (# of float elements) of data buffer.

Definition at line 272 of file motoman_motion_ctrl.h.

industrial::shared_types::shared_int motoman::simple_message::motion_ctrl::MotionCtrl::robot_id_ [private]

Robot/group ID. 0 = 1st robot.

Definition at line 257 of file motoman_motion_ctrl.h.

industrial::shared_types::shared_int motoman::simple_message::motion_ctrl::MotionCtrl::sequence_ [private]

Message-tracking number that will be echoed back in reply message.

Definition at line 262 of file motoman_motion_ctrl.h.

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

Public Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation