joint_message.h

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 * Copyright (c) 2011, Southwest Research Institute
 * All rights reserved.
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#ifndef JOINT_MESSAGE_H
#define JOINT_MESSAGE_H
 
#ifndef FLATHEADERS
#include "simple_message/typed_message.h"
#include "simple_message/simple_message.h"
#include "simple_message/shared_types.h"
#include "simple_message/joint_data.h"
#else
#include "typed_message.h"
#include "simple_message.h"
#include "shared_types.h"
#include "joint_data.h"
#endif
 
namespace industrial
{
namespace joint_message
{
 
namespace SpecialSeqValues
{
enum SpecialSeqValue
{
  END_TRAJECTORY = -1, STOP_TRAJECTORY = -2
};
}
typedef SpecialSeqValues::SpecialSeqValue SpecialSeqValue;
 
class JointMessage : public industrial::typed_message::TypedMessage
{
public:
  JointMessage(void);
  ~JointMessage(void);
  bool init(industrial::simple_message::SimpleMessage & msg);
 
  void init(industrial::shared_types::shared_int seq, industrial::joint_data::JointData & joints);
 
  void init();
 
  void setSequence(industrial::shared_types::shared_int sequence);
 
  industrial::shared_types::shared_int getSequence()
  {
    return sequence_;
  }
 
  industrial::joint_data::JointData& getJoints()
  {
    return this->joints_;
  }
 
  // 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) + this->joints_.byteLength();
  }
 
private:
  industrial::shared_types::shared_int sequence_;
  industrial::joint_data::JointData joints_;
 
};
 
}
}
 
#endif /* JOINT_MESSAGE_H */