joint_feedback_ex.h

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/*
 * Software License Agreement (BSD License)
 *
 * Copyright (c) 2014, Fraunhofer IPA
 * Author: Thiago de Freitas
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 *
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#ifndef MOTOMAN_DRIVER_SIMPLE_MESSAGE_JOINT_FEEDBACK_EX_H
#define MOTOMAN_DRIVER_SIMPLE_MESSAGE_JOINT_FEEDBACK_EX_H

#ifndef FLATHEADERS
#include "simple_message/joint_data.h"
#include "simple_message/simple_message.h"
#include "simple_message/simple_serialize.h"
#include "simple_message/shared_types.h"
#include "simple_message/joint_feedback.h"
#include "simple_message/messages/joint_feedback_message.h"
#else
#include "joint_data.h"        // NOLINT(build/include)
#include "simple_message.h"    // NOLINT(build/include)
#include "simple_serialize.h"  // NOLINT(build/include)
#include "shared_types.h"      // NOLINT(build/include)
#include "joint_feedback.h"    // NOLINT(build/include)
#include "messages/joint_feedback_message.h"
#endif

#include<vector>

namespace industrial
{
namespace joint_feedback_ex
{

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

  void init();

  void init(industrial::shared_types::shared_int groups_number,
            std::vector<industrial::joint_feedback_message::JointFeedbackMessage> joints_feedback_points);

  void setGroupsNumber(industrial::shared_types::shared_int groups_number)
  {
    this->groups_number_ = groups_number;
  }

  void setJointMessages(std::vector<industrial::joint_feedback_message::JointFeedbackMessage> joint_feedback_messages)
  {
    this->joint_feedback_messages_ = joint_feedback_messages;
  }

  std::vector<industrial::joint_feedback_message::JointFeedbackMessage> getJointMessages()
  {
    return joint_feedback_messages_;
  }

  industrial::shared_types::shared_int getGroupsNumber()
  {
    return this->groups_number_;
  }

  void copyFrom(JointFeedbackEx &src);

  bool operator==(JointFeedbackEx &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_int) +
           MAX_NUM_GROUPS * (2 * sizeof(industrial::shared_types::shared_int) +
                             sizeof(industrial::shared_types::shared_real) + 3 * (this->positions_.byteLength()));
  }

private:
  industrial::shared_types::shared_int groups_number_;

  std::vector<industrial::joint_feedback_message::JointFeedbackMessage> joint_feedback_messages_;

  industrial::joint_data::JointData positions_;

  static const industrial::shared_types::shared_int MAX_NUM_GROUPS = 4;
};
}  // namespace joint_feedback_ex
}  // namespace industrial


#endif  // MOTOMAN_DRIVER_SIMPLE_MESSAGE_JOINT_FEEDBACK_EX_H