Public Member Functions | Private Attributes
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:
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List of all members.

Public Member Functions

unsigned int byteLength ()
 Virtual method returns the object size when packed into a ByteArray.
void clearAccelerations ()
 Clears the acceleration data.
void clearPositions ()
 Clears the position data.
void clearTime ()
 Clears the joint trajectory point timestamp.
void clearVelocities ()
 Clears the velocity data.
void copyFrom (JointTrajPtFull &src)
 Copies the passed in value.
bool getAccelerations (industrial::joint_data::JointData &dest)
 Returns a copy of the acceleration data.
bool getPositions (industrial::joint_data::JointData &dest)
 Returns a copy of the position data.
industrial::shared_types::shared_int getRobotID ()
 Gets robot_id. Robot group # (0-based), for controllers with multiple axis-groups.
industrial::shared_types::shared_int getSequence ()
 Returns joint trajectory point sequence number.
bool getTime (industrial::shared_types::shared_real &time)
 Returns joint trajectory point timestamp.
bool getVelocities (industrial::joint_data::JointData &dest)
 Returns a copy of the velocity data.
void init ()
 Initializes a empty joint trajectory point.
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.
bool is_valid (ValidFieldType field)
 check the validity state for a given field
 JointTrajPtFull (void)
 Default constructor.
bool load (industrial::byte_array::ByteArray *buffer)
 Virtual method for loading an object into a ByteArray.
bool operator== (JointTrajPtFull &rhs)
 == operator implementation
void setAccelerations (industrial::joint_data::JointData &accelerations)
 Sets joint acceleration data.
void setPositions (industrial::joint_data::JointData &positions)
 Sets joint position data.
void setRobotID (industrial::shared_types::shared_int robot_id)
 Sets robot_id. Robot group # (0-based), for controllers with multiple axis-groups.
void setSequence (industrial::shared_types::shared_int sequence)
 Sets joint trajectory point sequence number.
void setTime (industrial::shared_types::shared_real time)
 Sets joint trajectory point timestamp.
void setVelocities (industrial::joint_data::JointData &velocities)
 Sets joint velocity data.
bool unload (industrial::byte_array::ByteArray *buffer)
 Virtual method for unloading an object from a ByteArray.
 ~JointTrajPtFull (void)
 Destructor.

Private Attributes

industrial::joint_data::JointData accelerations_
 joint trajectory point acceleration data
industrial::joint_data::JointData positions_
 joint trajectory point positional data
industrial::shared_types::shared_int robot_id_
 robot group # (0-based) for controllers that support multiple axis-groups
industrial::shared_types::shared_int sequence_
 trajectory sequence number
industrial::shared_types::shared_real time_
 joint trajectory point timestamp Typically, time_from_start of this trajectory (in seconds)
industrial::shared_types::shared_int valid_fields_
 bit-mask of (optional) fields that have been initialized with valid data
industrial::joint_data::JointData velocities_
 joint trajectory point velocity data

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 96 of file joint_traj_pt_full.h.


Constructor & Destructor Documentation

Default constructor.

This method creates empty data.

Definition at line 49 of file joint_traj_pt_full.cpp.

Destructor.

Definition at line 53 of file joint_traj_pt_full.cpp.


Member Function Documentation

Virtual method returns the object size when packed into a ByteArray.

Returns:
object size (in bytes)

Implements industrial::simple_serialize::SimpleSerialize.

Definition at line 328 of file joint_traj_pt_full.h.

Clears the acceleration data.

Definition at line 294 of file joint_traj_pt_full.h.

Clears the position data.

Definition at line 231 of file joint_traj_pt_full.h.

Clears the joint trajectory point timestamp.

Definition at line 199 of file joint_traj_pt_full.h.

Clears the velocity data.

Definition at line 263 of file joint_traj_pt_full.h.

Copies the passed in value.

Parameters:
src(value to copy)

Definition at line 86 of file joint_traj_pt_full.cpp.

Returns a copy of the acceleration data.

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

Definition at line 285 of file joint_traj_pt_full.h.

Returns a copy of the position data.

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

Definition at line 222 of file joint_traj_pt_full.h.

Gets robot_id. Robot group # (0-based), for controllers with multiple axis-groups.

Returns:
robot_id value

Definition at line 148 of file joint_traj_pt_full.h.

Returns joint trajectory point sequence number.

Returns:
joint trajectory sequence number

Definition at line 168 of file joint_traj_pt_full.h.

Returns joint trajectory point timestamp.

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

Definition at line 190 of file joint_traj_pt_full.h.

Returns a copy of the velocity data.

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

Definition at line 254 of file joint_traj_pt_full.h.

Initializes a empty joint trajectory point.

Definition at line 58 of file joint_traj_pt_full.cpp.

Initializes a complete trajectory point.

Definition at line 69 of file joint_traj_pt_full.cpp.

check the validity state for a given field

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

Definition at line 320 of file joint_traj_pt_full.h.

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.

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.

Sets joint acceleration data.

Parameters:
accelerationsnew joint acceleration data

Definition at line 273 of file joint_traj_pt_full.h.

Sets joint position data.

Parameters:
positionsnew joint position data

Definition at line 210 of file joint_traj_pt_full.h.

Sets robot_id. Robot group # (0-based), for controllers with multiple axis-groups.

Parameters:
robot_idnew robot_id value

Definition at line 137 of file joint_traj_pt_full.h.

Sets joint trajectory point sequence number.

Parameters:
sequencevalue

Definition at line 158 of file joint_traj_pt_full.h.

Sets joint trajectory point timestamp.

Parameters:
timenew time value

Definition at line 178 of file joint_traj_pt_full.h.

Sets joint velocity data.

Parameters:
velocitiesnew joint velocity data

Definition at line 242 of file joint_traj_pt_full.h.

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

joint trajectory point acceleration data

Definition at line 365 of file joint_traj_pt_full.h.

joint trajectory point positional data

Definition at line 358 of file joint_traj_pt_full.h.

robot group # (0-based) for controllers that support multiple axis-groups

Definition at line 339 of file joint_traj_pt_full.h.

trajectory sequence number

Definition at line 343 of file joint_traj_pt_full.h.

joint trajectory point timestamp Typically, time_from_start of this trajectory (in seconds)

Definition at line 353 of file joint_traj_pt_full.h.

bit-mask of (optional) fields that have been initialized with valid data

See also:
enum ValidFieldTypes

Definition at line 348 of file joint_traj_pt_full.h.

joint trajectory point velocity data

Definition at line 362 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 Sat Jun 8 2019 20:43:24