jaus++/2.0/include/jaus/mobility/drivers/querywrencheffort.h
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00001 00002 00003 00004 00005 00006 00007 00008 00009 00010 00011 00012 00013 00014 00015 00016 00017 00018 00019 00020 00021 00022 00023 00024 00025 00026 00027 00028 00029 00030 00031 00032 00033 00034 00035 00036 00037 00038 00039 00040 #ifndef __JAUS_MOBILITY_QUERY_WRENCH_EFFORT__H 00041 #define __JAUS_MOBILITY_QUERY_WRENCH_EFFORT__H 00042 00043 #include "jaus/core/message.h" 00044 #include "jaus/mobility/mobilitycodes.h" 00045 00046 namespace JAUS 00047 { 00059 class JAUS_MOBILITY_DLL QueryWrenchEffort : public Message 00060 { 00061 public: 00069 class JAUS_MOBILITY_DLL PresenceVector : public JAUS::PresenceVector 00070 { 00071 public: 00072 const static UShort PropulsiveLinearEffortX = 0x0001; 00073 const static UShort PropulsiveLinearEffortY = 0x0002; 00074 const static UShort PropulsiveLinearEffortZ = 0x0004; 00075 const static UShort PropulsiveRotationalEffortX = 0x0008; 00076 const static UShort PropulsiveRotationalEffortY = 0x0010; 00077 const static UShort PropulsiveRotationalEffortZ = 0x0020; 00078 const static UShort ResistiveLinearEffortX = 0x0040; 00079 const static UShort ResistiveLinearEffortY = 0x0080; 00080 const static UShort ResistiveLinearEffortZ = 0x0100; 00081 const static UShort ResistiveRotationalEffortX = 0x0200; 00082 const static UShort ResistiveRotationalEffortY = 0x0400; 00083 const static UShort ResistiveRotationalEffortZ = 0x0800; 00084 }; 00085 QueryWrenchEffort(const Address& dest = Address(), const Address& src = Address()); 00086 QueryWrenchEffort(const QueryWrenchEffort& message); 00087 ~QueryWrenchEffort(); 00088 void SetPresenceVector(const UShort presenceVector) { mPresenceVector = presenceVector; } 00089 virtual bool IsCommand() const { return false; } 00090 virtual int WriteMessageBody(Packet& packet) const; 00091 virtual int ReadMessageBody(const Packet& packet); 00092 virtual Message* Clone() const { return new QueryWrenchEffort(*this); } 00093 virtual UInt GetPresenceVector() const { return mPresenceVector; } 00094 virtual UInt GetPresenceVectorSize() const { return USHORT_SIZE; } 00095 virtual UInt GetPresenceVectorMask() const { return 0x0FFF; } 00096 virtual UShort GetMessageCodeOfResponse() const { return REPORT_WRENCH_EFFORT; } 00097 virtual std::string GetMessageName() const { return "Query Wrench Effort"; } 00098 virtual void ClearMessageBody(); 00099 virtual bool IsLargeDataSet(const unsigned int maxPayloadSize = 1437) const { return false; } 00100 virtual int RunTestCase() const; 00101 QueryWrenchEffort& operator=(const QueryWrenchEffort& message); 00102 protected: 00103 UShort mPresenceVector; 00104 }; 00105 } 00106 00107 #endif 00108 /* End of File */
