joint_traj.h

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#ifndef JOINT_TRAJ_H
#define JOINT_TRAJ_H
 
#ifndef FLATHEADERS
#include "simple_message/simple_message.h"
#include "simple_message/simple_serialize.h"
#include "simple_message/shared_types.h"
#include "simple_message/joint_traj_pt.h"
#else
#include "simple_message.h"
#include "simple_serialize.h"
#include "shared_types.h"
#include "joint_traj_pt.h"
#endif
 
 
 
namespace industrial
{
namespace joint_traj
{
 
//* JointTraj
class JointTraj : public industrial::simple_serialize::SimpleSerialize
{
public:
        JointTraj(void);
        ~JointTraj(void);
 
        void init();
 
        bool addPoint(industrial::joint_traj_pt::JointTrajPt & point);
 
        bool getPoint(industrial::shared_types::shared_int index,
                        industrial::joint_traj_pt::JointTrajPt & point);
        industrial::shared_types::shared_int size()
        {
                return this->size_;
        }
 
        bool isFull()
        {
                return this->size_ >= this->getMaxNumPoints();
        }
 
        int getMaxNumPoints() const
        {
                return MAX_NUM_POINTS;
        }
 
        void copyFrom(JointTraj &src);
 
        bool operator==(JointTraj &rhs);
 
        // Overrides - SimpleSerialize
        bool load(industrial::byte_array::ByteArray *buffer);
        bool unload(industrial::byte_array::ByteArray *buffer);
        unsigned int byteLength()
        {
                industrial::joint_traj_pt::JointTrajPt pt;
                return this->size() * pt.byteLength();
        }
 
private:
 
        static const industrial::shared_types::shared_int MAX_NUM_POINTS = 200;
        industrial::joint_traj_pt::JointTrajPt points_[MAX_NUM_POINTS];
        industrial::shared_types::shared_int size_;
 
};
 
}
}
 
#endif /* JOINT_TRAJ_H */