ReportManipulatorSpecifications Message Implementation. More...

#include <ReportManipulatorSpecifications.h>

Public Member Functions
	ReportManipulatorSpecifications ()

	ReportManipulatorSpecifications (model::Message *message)

	~ReportManipulatorSpecifications ()

virtual int	to (system::Buffer *dst)
	Pack this message to the given openjaus::system::Buffer. More...

virtual int	from (system::Buffer *src)
	Unpack this message from the given openjaus::system::Buffer. More...

virtual int	length ()
	Get the number of bytes this message would occupy in a serialized buffer. More...

std::string	toXml (unsigned char ojIndentLevel=0) const
	Used to serialize the runtime state of the message to an XML format. More...

std::string	toString () const
	Returns a string populated with the Message name and ID More...

void	setPresenceVector (uint8_t value)

uint8_t	getPresenceVector (void) const

bool	isManipulatorCoordinateSystemRecEnabled (void) const

void	enableManipulatorCoordinateSystemRec (void)

void	disableManipulatorCoordinateSystemRec (void)

ManipulatorCoordinateSystemRecord &	getManipulatorCoordinateSystemRec (void)

FirstJointParametersVariant &	getFirstJointParameters (void)

JointSpecificationList &	getJointSpecificationList (void)

Public Member Functions inherited from openjaus::model::Message
	Message ()

virtual	~Message ()

	Message (Message *message)

int	to (system::Buffer *dst)
	Operation to. More...

int	from (system::Buffer *src)
	Operation from. More...

Public Member Functions inherited from openjaus::transport::Wrapper
	Wrapper ()

virtual	~Wrapper ()

AckNakType	getAckNak () const
	Accessor to get the value of ackNak. More...

bool	setAckNak (AckNakType ackNak)
	Accessor to set value of ackNak. More...

bool	isCompressible () const
	Accessor to get the value of compressible. More...

bool	setCompressible (bool compressible)
	Accessor to set value of compressible. More...

bool	isMustArrive () const
	Accessor to get the value of mustArrive. More...

bool	setMustArrive (bool mustArrive)
	Accessor to set value of mustArrive. More...

uint16_t	getSequenceNumber () const
	Accessor to get the value of sequenceNumber. More...

bool	setSequenceNumber (uint16_t sequenceNumber)
	Accessor to set value of sequenceNumber. More...

WrapperType	getType () const
	Accessor to get the value of type. More...

bool	setType (WrapperType type)
	Accessor to set value of type. More...

Priority	getPriority () const
	Accessor to get the value of priority. More...

bool	setPriority (Priority priority)
	Accessor to set value of priority. More...

BroadcastType	getBroadcastFlag () const
	Accessor to get the value of broadcastFlag. More...

bool	setBroadcastFlag (BroadcastType broadcastFlag)
	Accessor to set value of broadcastFlag. More...

LargeMessageType	getLargeMessageFlag () const
	Accessor to get the value of largeMessageFlag. More...

bool	setLargeMessageFlag (LargeMessageType largeMessageFlag)
	Accessor to set value of largeMessageFlag. More...

const Address &	getDestination () const
	Accessor to get the value of destination. More...

bool	setDestination (const Address &destination)
	Accessor to set value of destination. More...

system::Transportable *	getPayload () const
	Accessor to get the value of payload. More...

bool	setPayload (system::Transportable *payload)
	Accessor to set value of payload. More...

const Address &	getSource () const
	Accessor to get the value of source. More...

bool	setSource (const Address &source)
	Accessor to set value of source. More...

TransportData *	getTransportData () const
	Accessor to get the value of transportData. More...

bool	setTransportData (TransportData *transportData)
	Accessor to set value of transportData. More...

virtual int	prioritizedValue ()
	Operation prioritizedValue. More...

virtual Wrapper *	clone ()

Public Member Functions inherited from openjaus::system::Transportable
virtual	~Transportable ()

	Transportable ()

Public Member Functions inherited from openjaus::system::Prioritized
virtual	~Prioritized ()

Public Member Functions inherited from openjaus::model::Trigger
	Trigger ()

virtual	~Trigger ()

double	getTriggerTimestamp_sec () const
	Accessor to get the value of triggerTimestamp_sec. More...

bool	setTriggerTimestamp_sec (double triggerTimestamp_sec)
	Accessor to set value of triggerTimestamp_sec. More...

uint32_t	getId () const
	Accessor to get the value of id. More...

bool	setId (uint32_t id)
	Accessor to set value of id. More...

std::string	idString ()
	Operation idString. More...

Static Public Attributes
static const uint16_t	ID = 0x4600

static const uint8_t	PV_ALL_FIELDS = 0xFF

static const uint8_t	PV_NO_FIELDS = 0x0

static const uint8_t	PV_MANIPULATORCOORDINATESYSTEMREC = 0x1

Private Attributes
ManipulatorCoordinateSystemRecord	manipulatorCoordinateSystemRec

FirstJointParametersVariant	firstJointParameters

JointSpecificationList	jointSpecificationList

uint8_t	presenceVector

Friends
OPENJAUS_EXPORT friend std::ostream &	operator<< (std::ostream &output, const ReportManipulatorSpecifications &object)
	OStream operator for Message object More...

OPENJAUS_EXPORT friend std::ostream &	operator<< (std::ostream &output, const ReportManipulatorSpecifications *object)
	OStream operator for Message pointer More...

Additional Inherited Members
Protected Member Functions inherited from openjaus::transport::Wrapper
	Wrapper (const Wrapper &wrapper)

Protected Attributes inherited from openjaus::transport::Wrapper
AckNakType	ackNak

bool	compressible

bool	mustArrive

uint16_t	sequenceNumber

WrapperType	type

Priority	priority

BroadcastType	broadcastFlag

LargeMessageType	largeMessageFlag

Address	destination

system::Transportable *	payload

Address	source

TransportData *	transportData

Protected Attributes inherited from openjaus::model::Trigger
double	triggerTimestamp_sec

uint32_t	id

Detailed Description

This message provides the specification of the manipulator including the number of joints, the link length and twist angle of each link, the joint offset (for revolute joints) or joint angle (for prismatic joints), the minimum and maximum value for each joint, and the minimum and maximum speed for each joint. The record ManipulatorCoordinateSystemRec establishes the position and orientation relationship of the manipulator base coordinate system to the vehicle coordinate system. It specifies the location (x,y,z) and orientation (described by the quaternion) of the manipulator coordinate system relative to the base coordinate system. The variant FirstJointParameters specifies the offset distance from the origin of the manipulator coordinate system to the first link axis (L1 in Figure 1) or the joint angle between the x-axis of the manipulator coordinate system and the line along the first link (?1 in Figure 1), depending on whether the first joint in JointSpecificationList is revolute or prismatic. The record RevoluteJointSpecificationRec specifies the link length and twist angle for a link and the joint offset for the revolute joint that comes after the link. The record PrismaticJointSpecificationRec specifies the link length and twist angle for a link and the joint angle for the prismatic joint that comes after the link. The order in which the joints are encoded into the list called JointSpecificationList must correspond with the order of the joints from the manipulator base to the end effector.

Constructor & Destructor Documentation

§ ReportManipulatorSpecifications() [1/2]

openjaus::manipulator::ReportManipulatorSpecifications::ReportManipulatorSpecifications ( )

§ ReportManipulatorSpecifications() [2/2]

openjaus::manipulator::ReportManipulatorSpecifications::ReportManipulatorSpecifications ( model::Message * message )

§ ~ReportManipulatorSpecifications()

openjaus::manipulator::ReportManipulatorSpecifications::~ReportManipulatorSpecifications ( )

Member Function Documentation

§ disableManipulatorCoordinateSystemRec()

void openjaus::manipulator::ReportManipulatorSpecifications::disableManipulatorCoordinateSystemRec ( void )

§ enableManipulatorCoordinateSystemRec()

void openjaus::manipulator::ReportManipulatorSpecifications::enableManipulatorCoordinateSystemRec ( void )

§ from()

int openjaus::manipulator::ReportManipulatorSpecifications::from ( system::Buffer * src )

virtual

Parameters

[in] src - The source openjaus::system::Buffer from which this message will be unpacked.

Returns: The number of bytes unpacked from the source buffer

Reimplemented from openjaus::transport::Wrapper.

§ getFirstJointParameters()

FirstJointParametersVariant & openjaus::manipulator::ReportManipulatorSpecifications::getFirstJointParameters ( void )

§ getJointSpecificationList()

JointSpecificationList & openjaus::manipulator::ReportManipulatorSpecifications::getJointSpecificationList ( void )

§ getManipulatorCoordinateSystemRec()

ManipulatorCoordinateSystemRecord & openjaus::manipulator::ReportManipulatorSpecifications::getManipulatorCoordinateSystemRec ( void )

§ getPresenceVector()

uint8_t openjaus::manipulator::ReportManipulatorSpecifications::getPresenceVector ( void ) const

§ isManipulatorCoordinateSystemRecEnabled()

bool openjaus::manipulator::ReportManipulatorSpecifications::isManipulatorCoordinateSystemRecEnabled ( void ) const

§ length()

int openjaus::manipulator::ReportManipulatorSpecifications::length ( void )

virtual

Returns: The number of bytes this message would occupy in a buffer

Reimplemented from openjaus::model::Message.

§ setPresenceVector()

void openjaus::manipulator::ReportManipulatorSpecifications::setPresenceVector ( uint8_t value )

§ to()

int openjaus::manipulator::ReportManipulatorSpecifications::to ( system::Buffer * dst )

virtual

Parameters

[out] dst - The destination openjaus::system::Buffer to which this message will be packed.

Returns: The number of bytes packed into the destination buffer

Reimplemented from openjaus::transport::Wrapper.

§ toString()

std::string openjaus::manipulator::ReportManipulatorSpecifications::toString ( ) const

virtual

Returns: The string

Reimplemented from openjaus::model::Message.

§ toXml()

std::string openjaus::manipulator::ReportManipulatorSpecifications::toXml ( unsigned char ojIndentLevel = 0 ) const

Parameters

[in] ojIndentLevel - Used to determine how many tabs are inserted per line for pretty formating.

Returns: The serialized XML string

Friends And Related Function Documentation

§ operator<< [1/2]

OPENJAUS_EXPORT friend std::ostream& operator<<	(	std::ostream &	output,
		const ReportManipulatorSpecifications &	object
	)

friend

§ operator<< [2/2]

OPENJAUS_EXPORT friend std::ostream& operator<<	(	std::ostream &	output,
		const ReportManipulatorSpecifications *	object
	)

friend

Member Data Documentation

§ firstJointParameters

FirstJointParametersVariant openjaus::manipulator::ReportManipulatorSpecifications::firstJointParameters

private

§ ID

const uint16_t openjaus::manipulator::ReportManipulatorSpecifications::ID = 0x4600

static

§ jointSpecificationList

JointSpecificationList openjaus::manipulator::ReportManipulatorSpecifications::jointSpecificationList

private

§ manipulatorCoordinateSystemRec

ManipulatorCoordinateSystemRecord openjaus::manipulator::ReportManipulatorSpecifications::manipulatorCoordinateSystemRec

private

§ presenceVector

uint8_t openjaus::manipulator::ReportManipulatorSpecifications::presenceVector

private

§ PV_ALL_FIELDS

const uint8_t openjaus::manipulator::ReportManipulatorSpecifications::PV_ALL_FIELDS = 0xFF

static

§ PV_MANIPULATORCOORDINATESYSTEMREC

const uint8_t openjaus::manipulator::ReportManipulatorSpecifications::PV_MANIPULATORCOORDINATESYSTEMREC = 0x1

static

§ PV_NO_FIELDS

const uint8_t openjaus::manipulator::ReportManipulatorSpecifications::PV_NO_FIELDS = 0x0

static

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

include/openjaus/manipulator/Triggers/ReportManipulatorSpecifications.h
src/openjaus/manipulator/Triggers/ReportManipulatorSpecifications.cpp

Public Member Functions

Static Public Attributes

Private Attributes

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

§ ReportManipulatorSpecifications() [1/2]

§ ReportManipulatorSpecifications() [2/2]

§ ~ReportManipulatorSpecifications()

Member Function Documentation

§ disableManipulatorCoordinateSystemRec()

§ enableManipulatorCoordinateSystemRec()

§ from()

§ getFirstJointParameters()

§ getJointSpecificationList()

§ getManipulatorCoordinateSystemRec()

§ getPresenceVector()

§ isManipulatorCoordinateSystemRecEnabled()

§ length()

§ setPresenceVector()

§ to()

§ toString()

§ toXml()

Friends And Related Function Documentation

§ operator<< [1/2]

§ operator<< [2/2]

Member Data Documentation

§ firstJointParameters

§ ID

§ jointSpecificationList

§ manipulatorCoordinateSystemRec

§ presenceVector

§ PV_ALL_FIELDS

§ PV_MANIPULATORCOORDINATESYSTEMREC

§ PV_NO_FIELDS