Fawkes API  Fawkes Development Version
JointInterface.h
1 
2 /***************************************************************************
3  * JointInterface.h - Fawkes BlackBoard Interface - JointInterface
4  *
5  * Templated created: Thu Oct 12 10:49:19 2006
6  * Copyright 2013 Till Hofmann
7  *
8  ****************************************************************************/
9 
10 /* This program is free software; you can redistribute it and/or modify
11  * it under the terms of the GNU General Public License as published by
12  * the Free Software Foundation; either version 2 of the License, or
13  * (at your option) any later version. A runtime exception applies to
14  * this software (see LICENSE.GPL_WRE file mentioned below for details).
15  *
16  * This program is distributed in the hope that it will be useful,
17  * but WITHOUT ANY WARRANTY; without even the implied warranty of
18  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
19  * GNU Library General Public License for more details.
20  *
21  * Read the full text in the LICENSE.GPL_WRE file in the doc directory.
22  */
23 
24 #ifndef __INTERFACES_JOINTINTERFACE_H_
25 #define __INTERFACES_JOINTINTERFACE_H_
26 
27 #include <interface/interface.h>
28 #include <interface/message.h>
29 #include <interface/field_iterator.h>
30 
31 namespace fawkes {
32 
33 class JointInterface : public Interface
34 {
35  /// @cond INTERNALS
36  INTERFACE_MGMT_FRIENDS(JointInterface)
37  /// @endcond
38  public:
39  /* constants */
40 
41  private:
42  /** Internal data storage, do NOT modify! */
43  typedef struct __attribute__((packed)) {
44  int64_t timestamp_sec; /**< Interface Unix timestamp, seconds */
45  int64_t timestamp_usec; /**< Interface Unix timestamp, micro-seconds */
46  float position; /**<
47  The joint's position in rad.
48  */
49  float velocity; /**<
50  The joint's velocity in rad/s.
51  */
52  } JointInterface_data_t;
53 
54  JointInterface_data_t *data;
55 
56  public:
57  /* messages */
58  virtual bool message_valid(const Message *message) const;
59  private:
61  ~JointInterface();
62 
63  public:
64  /* Methods */
65  float position() const;
66  void set_position(const float new_position);
67  size_t maxlenof_position() const;
68  float velocity() const;
69  void set_velocity(const float new_velocity);
70  size_t maxlenof_velocity() const;
71  virtual Message * create_message(const char *type) const;
72 
73  virtual void copy_values(const Interface *other);
74  virtual const char * enum_tostring(const char *enumtype, int val) const;
75 
76 };
77 
78 } // end namespace fawkes
79 
80 #endif
virtual const char * enum_tostring(const char *enumtype, int val) const
Convert arbitrary enum value to string.
Base class for all messages passed through interfaces in Fawkes BlackBoard.
Definition: message.h:44
float position() const
Get position value.
Fawkes library namespace.
Base class for all Fawkes BlackBoard interfaces.
Definition: interface.h:79
virtual void copy_values(const Interface *other)
Copy values from other interface.
virtual bool message_valid(const Message *message) const
Check if message is valid and can be enqueued.
float velocity() const
Get velocity value.
const char * type() const
Get type of interface.
Definition: interface.cpp:651
size_t maxlenof_velocity() const
Get maximum length of velocity value.
size_t maxlenof_position() const
Get maximum length of position value.
void set_position(const float new_position)
Set position value.
virtual Message * create_message(const char *type) const
Create message based on type name.
void set_velocity(const float new_velocity)
Set velocity value.
JointInterface Fawkes BlackBoard Interface.