JAUS++: jaus++/2.0/include/jaus/mobility/drivers/reportwrencheffort.h Source File

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00040 #ifndef __JAUS_MOBILITY_REPORT_WRENCH_EFFORT__H
00041 #define __JAUS_MOBILITY_REPORT_WRENCH_EFFORT__H
00042 
00043 #include "jaus/core/message.h"
00044 #include "jaus/mobility/mobilitycodes.h"
00045 
00046 namespace JAUS
00047 {
00057     class JAUS_MOBILITY_DLL ReportWrenchEffort : public Message
00058     {
00059     public:
00067         class JAUS_MOBILITY_DLL PresenceVector : public JAUS::PresenceVector
00068         {
00069         public:
00070             const static UShort PropulsiveLinearEffortX = 0x0001;
00071             const static UShort PropulsiveLinearEffortY = 0x0002;
00072             const static UShort PropulsiveLinearEffortZ = 0x0004;
00073             const static UShort PropulsiveRotationalEffortX = 0x0008;
00074             const static UShort PropulsiveRotationalEffortY = 0x0010;
00075             const static UShort PropulsiveRotationalEffortZ = 0x0020;
00076             const static UShort ResistiveLinearEffortX = 0x0040;
00077             const static UShort ResistiveLinearEffortY = 0x0080;
00078             const static UShort ResistiveLinearEffortZ = 0x0100;
00079             const static UShort ResistiveRotationalEffortX = 0x0200;
00080             const static UShort ResistiveRotationalEffortY = 0x0400;
00081             const static UShort ResistiveRotationalEffortZ = 0x0800;
00082         };
00083         ReportWrenchEffort(const Address& dest = Address(), const Address& src = Address());
00084         ReportWrenchEffort(const ReportWrenchEffort& message);
00085         ~ReportWrenchEffort();
00086         bool SetPropulsiveLinearEffortX(const double percent);
00087         bool SetPropulsiveLinearEffortY(const double percent);
00088         bool SetPropulsiveLinearEffortZ(const double percent);
00089         bool SetPropulsiveRotationalEffortX(const double percent);
00090         bool SetPropulsiveRotationalEffortY(const double percent);
00091         bool SetPropulsiveRotationalEffortZ(const double percent);
00092         bool SetResistiveLinearEffortX(const double percent);
00093         bool SetResistiveLinearEffortY(const double percent);
00094         bool SetResistiveLinearEffortZ(const double percent);
00095         bool SetResistiveRotationalEffortX(const double percent);
00096         bool SetResistiveRotationalEffortY(const double percent);
00097         bool SetResistiveRotationalEffortZ(const double percent);
00098         inline double GetPropulsiveLinearEffortX() const { return mPropulsiveLinearEffortX; }
00099         inline double GetPropulsiveLinearEffortY() const { return mPropulsiveLinearEffortY; }
00100         inline double GetPropulsiveLinearEffortZ() const { return mPropulsiveLinearEffortZ; }
00101         inline double GetPropulsiveRotationalEffortX() const { return mPropulsiveRotationalEffortX; }
00102         inline double GetPropulsiveRotationalEffortY() const { return mPropulsiveRotationalEffortY; }
00103         inline double GetPropulsiveRotationalEffortZ() const { return mPropulsiveRotationalEffortZ; }
00104         inline double GetResistiveLinearEffortX() const { return mResistiveLinearEffortX; }
00105         inline double GetResistiveLinearEffortY() const { return mResistiveLinearEffortY; }
00106         inline double GetResistiveLinearEffortZ() const { return mResistiveLinearEffortZ; }
00107         inline double GetResistiveRotationalEffortX() const { return mResistiveRotationalEffortX; }
00108         inline double GetResistiveRotationalEffortY() const { return mResistiveRotationalEffortY; }
00109         inline double GetResistiveRotationalEffortZ() const { return mResistiveRotationalEffortZ; }
00110         virtual bool IsCommand() const { return false; }
00111         virtual int WriteMessageBody(Packet& packet) const;
00112         virtual int ReadMessageBody(const Packet& packet);
00113         virtual Message* Clone() const { return new ReportWrenchEffort(*this); }
00114         virtual UInt GetPresenceVector() const { return mPresenceVector; }
00115         virtual UInt GetPresenceVectorSize() const { return USHORT_SIZE; }
00116         virtual UInt GetPresenceVectorMask() const { return 0x0FFF; }
00117         virtual UShort GetMessageCodeOfResponse() const { return 0; }
00118         virtual std::string GetMessageName() const { return "Set Wrench Effort"; }        
00119         virtual void ClearMessageBody();
00120         virtual bool IsLargeDataSet(const unsigned int maxPayloadSize = 1437) const { return false; }
00121         virtual int RunTestCase() const;
00122         ReportWrenchEffort& operator=(const ReportWrenchEffort& message);
00123     protected:
00124         UShort mPresenceVector;                 
00125         double mPropulsiveLinearEffortX;        
00126         double mPropulsiveLinearEffortY;        
00127         double mPropulsiveLinearEffortZ;        
00128         double mPropulsiveRotationalEffortX;    
00129         double mPropulsiveRotationalEffortY;    
00130         double mPropulsiveRotationalEffortZ;    
00131         double mResistiveLinearEffortX;         
00132         double mResistiveLinearEffortY;         
00133         double mResistiveLinearEffortZ;         
00134         double mResistiveRotationalEffortX;     
00135         double mResistiveRotationalEffortY;     
00136         double mResistiveRotationalEffortZ;     
00137     };
00138 }
00139 
00140 #endif
00141 /*  End of File */