industrial::joint_traj::JointTraj Class Reference

Class encapsulated joint trajectory. A joint trajectory includes an array of JointTrajPt data types. The intention for this class is to be loaded into a single message for communication over a simple connection. More...

#include <joint_traj.h>

Inheritance diagram for industrial::joint_traj::JointTraj:

Public Member Functions
bool	addPoint (industrial::joint_traj_pt::JointTrajPt &point)
	Adds a point value to the end of the buffer. More...
unsigned int	byteLength ()
	Virtual method returns the object size when packed into a ByteArray. More...
void	copyFrom (JointTraj &src)
	Copies the passed in value. More...
int	getMaxNumPoints () const
	returns the maximum number of points the message holds More...
bool	getPoint (industrial::shared_types::shared_int index, industrial::joint_traj_pt::JointTrajPt &point)
	Gets a point value within the buffer. More...
void	init ()
	Initializes a empty joint data. More...
bool	isFull ()
	returns True if buffer is full More...
	JointTraj (void)
	Default constructor. More...
bool	load (industrial::byte_array::ByteArray *buffer)
	Virtual method for loading an object into a ByteArray. More...
bool	operator== (JointTraj &rhs)
	== operator implementation More...
industrial::shared_types::shared_int	size ()
	Gets a size of trajectory. More...
bool	unload (industrial::byte_array::ByteArray *buffer)
	Virtual method for unloading an object from a ByteArray. More...
	~JointTraj (void)
	Destructor. More...

Private Attributes
industrial::joint_traj_pt::JointTrajPt	points_ [MAX_NUM_POINTS]
	internal data buffer More...
industrial::shared_types::shared_int	size_
	size of trajectory More...

Static Private Attributes
static const industrial::shared_types::shared_int	MAX_NUM_POINTS = 200
	maximum number of joints positions that can be held in the message. More...

Detailed Description

Class encapsulated joint trajectory. A joint trajectory includes an array of JointTrajPt data types. The intention for this class is to be loaded into a single message for communication over a simple connection.

For simplicity and cross platform compliance, this is implemented as a fixed size array. The size of the trajectory cannot exceed the max size of the array.

THIS CLASS IS NOT THREAD-SAFE

Definition at line 70 of file joint_traj.h.

Constructor & Destructor Documentation

JointTraj()

industrial::joint_traj::JointTraj::JointTraj

(

void

)

Default constructor.

This method creates empty data.

Definition at line 49 of file joint_traj.cpp.

~JointTraj()

industrial::joint_traj::JointTraj::~JointTraj

(

void

)

Destructor.

Definition at line 53 of file joint_traj.cpp.

Member Function Documentation

addPoint()

bool industrial::joint_traj::JointTraj::addPoint

(

industrial::joint_traj_pt::JointTrajPt &

point

)

Adds a point value to the end of the buffer.

Parameters

point

value

Returns

true if value set, otherwise false (buffer is full)

Definition at line 69 of file joint_traj.cpp.

byteLength()

unsigned int industrial::joint_traj::JointTraj::byteLength ( )

inlinevirtual

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

Returns

object size (in bytes)

Implements industrial::simple_serialize::SimpleSerialize.

Definition at line 158 of file joint_traj.h.

copyFrom()

void industrial::joint_traj::JointTraj::copyFrom

(

JointTraj &

src

)

Copies the passed in value.

Parameters

src	(value to copy)

Definition at line 105 of file joint_traj.cpp.

getMaxNumPoints()

int industrial::joint_traj::JointTraj::getMaxNumPoints ( ) const

inline

returns the maximum number of points the message holds

Returns

max number of points

Definition at line 136 of file joint_traj.h.

getPoint()

bool industrial::joint_traj::JointTraj::getPoint	(	industrial::shared_types::shared_int	index,
		industrial::joint_traj_pt::JointTrajPt &	point
	)

Gets a point value within the buffer.

Parameters

point	index
point	value

Returns

true if value set, otherwise false (index greater than size)

Definition at line 88 of file joint_traj.cpp.

init()

void industrial::joint_traj::JointTraj::init

(

)

Initializes a empty joint data.

Definition at line 58 of file joint_traj.cpp.

isFull()

bool industrial::joint_traj::JointTraj::isFull ( )

inline

returns True if buffer is full

Returns

true if buffer is full

Definition at line 126 of file joint_traj.h.

load()

bool industrial::joint_traj::JointTraj::load ( industrial::byte_array::ByteArray *  buffer )

virtual

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

buffer

pointer to ByteArray

Returns

true on success, false otherwise (buffer not large enough)

Implements industrial::simple_serialize::SimpleSerialize.

Definition at line 149 of file joint_traj.cpp.

operator==()

bool industrial::joint_traj::JointTraj::operator==

(

JointTraj &

rhs

)

== operator implementation

Returns

true if equal

Definition at line 117 of file joint_traj.cpp.

size()

industrial::shared_types::shared_int industrial::joint_traj::JointTraj::size ( )

inline

Gets a size of trajectory.

Returns

trajectory size

Definition at line 116 of file joint_traj.h.

unload()

bool industrial::joint_traj::JointTraj::unload ( industrial::byte_array::ByteArray *  buffer )

virtual

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

buffer

pointer to ByteArray

Returns

true on success, false otherwise (buffer not large enough)

Implements industrial::simple_serialize::SimpleSerialize.

Definition at line 175 of file joint_traj.cpp.

Member Data Documentation

MAX_NUM_POINTS

const industrial::shared_types::shared_int industrial::joint_traj::JointTraj::MAX_NUM_POINTS = 200

staticprivate

maximum number of joints positions that can be held in the message.

Definition at line 169 of file joint_traj.h.

points_

industrial::joint_traj_pt::JointTrajPt industrial::joint_traj::JointTraj::points_[MAX_NUM_POINTS]

private

internal data buffer

Definition at line 173 of file joint_traj.h.

size_

industrial::shared_types::shared_int industrial::joint_traj::JointTraj::size_

private

size of trajectory

Definition at line 177 of file joint_traj.h.

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

• joint_traj.h
• joint_traj.cpp