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

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00040 #ifndef __JAUS_MOBILITY_SET_WRENCH_EFFORT__H
00041 #define __JAUS_MOBILITY_SET_WRENCH_EFFORT__H
00042 
00043 #include "jaus/core/message.h"
00044 #include "jaus/mobility/mobilitycodes.h"
00045 
00046 namespace JAUS
00047 {
00060     class JAUS_MOBILITY_DLL SetWrenchEffort : public Message
00061     {
00062     public:
00070         class JAUS_MOBILITY_DLL PresenceVector : public JAUS::PresenceVector
00071         {
00072         public:
00073             const static UShort PropulsiveLinearEffortX = 0x0001;
00074             const static UShort PropulsiveLinearEffortY = 0x0002;
00075             const static UShort PropulsiveLinearEffortZ = 0x0004;
00076             const static UShort PropulsiveRotationalEffortX = 0x0008;
00077             const static UShort PropulsiveRotationalEffortY = 0x0010;
00078             const static UShort PropulsiveRotationalEffortZ = 0x0020;
00079             const static UShort ResistiveLinearEffortX = 0x0040;
00080             const static UShort ResistiveLinearEffortY = 0x0080;
00081             const static UShort ResistiveLinearEffortZ = 0x0100;
00082             const static UShort ResistiveRotationalEffortX = 0x0200;
00083             const static UShort ResistiveRotationalEffortY = 0x0400;
00084             const static UShort ResistiveRotationalEffortZ = 0x0800;
00085         };
00086         SetWrenchEffort(const Address& dest = Address(), const Address& src = Address());
00087         SetWrenchEffort(const SetWrenchEffort& message);
00088         ~SetWrenchEffort();
00089         bool SetPropulsiveLinearEffortX(const double percent);
00090         bool SetPropulsiveLinearEffortY(const double percent);
00091         bool SetPropulsiveLinearEffortZ(const double percent);
00092         bool SetPropulsiveRotationalEffortX(const double percent);
00093         bool SetPropulsiveRotationalEffortY(const double percent);
00094         bool SetPropulsiveRotationalEffortZ(const double percent);
00095         bool SetResistiveLinearEffortX(const double percent);
00096         bool SetResistiveLinearEffortY(const double percent);
00097         bool SetResistiveLinearEffortZ(const double percent);
00098         bool SetResistiveRotationalEffortX(const double percent);
00099         bool SetResistiveRotationalEffortY(const double percent);
00100         bool SetResistiveRotationalEffortZ(const double percent);
00101         inline double GetPropulsiveLinearEffortX() const { return mPropulsiveLinearEffortX; }
00102         inline double GetPropulsiveLinearEffortY() const { return mPropulsiveLinearEffortY; }
00103         inline double GetPropulsiveLinearEffortZ() const { return mPropulsiveLinearEffortZ; }
00104         inline double GetPropulsiveRotationalEffortX() const { return mPropulsiveRotationalEffortX; }
00105         inline double GetPropulsiveRotationalEffortY() const { return mPropulsiveRotationalEffortY; }
00106         inline double GetPropulsiveRotationalEffortZ() const { return mPropulsiveRotationalEffortZ; }
00107         inline double GetResistiveLinearEffortX() const { return mResistiveLinearEffortX; }
00108         inline double GetResistiveLinearEffortY() const { return mResistiveLinearEffortY; }
00109         inline double GetResistiveLinearEffortZ() const { return mResistiveLinearEffortZ; }
00110         inline double GetResistiveRotationalEffortX() const { return mResistiveRotationalEffortX; }
00111         inline double GetResistiveRotationalEffortY() const { return mResistiveRotationalEffortY; }
00112         inline double GetResistiveRotationalEffortZ() const { return mResistiveRotationalEffortZ; }
00113         virtual bool IsCommand() const { return true; }
00114         virtual int WriteMessageBody(Packet& packet) const;
00115         virtual int ReadMessageBody(const Packet& packet);
00116         virtual Message* Clone() const { return new SetWrenchEffort(*this); }
00117         virtual UInt GetPresenceVector() const { return mPresenceVector; }
00118         virtual UInt GetPresenceVectorSize() const { return USHORT_SIZE; }
00119         virtual UInt GetPresenceVectorMask() const { return 0x0FFF; }
00120         virtual UShort GetMessageCodeOfResponse() const { return 0; }
00121         virtual std::string GetMessageName() const { return "Set Wrench Effort"; }        
00122         virtual void ClearMessageBody();
00123         virtual bool IsLargeDataSet(const unsigned int maxPayloadSize = 1437) const { return false; }
00124         virtual int RunTestCase() const;
00125         virtual void PrintMessageBody() const;
00126         SetWrenchEffort& operator=(const SetWrenchEffort& message);
00127     protected:
00128         UShort mPresenceVector;                 
00129         double mPropulsiveLinearEffortX;        
00130         double mPropulsiveLinearEffortY;        
00131         double mPropulsiveLinearEffortZ;        
00132         double mPropulsiveRotationalEffortX;    
00133         double mPropulsiveRotationalEffortY;    
00134         double mPropulsiveRotationalEffortZ;    
00135         double mResistiveLinearEffortX;         
00136         double mResistiveLinearEffortY;         
00137         double mResistiveLinearEffortZ;         
00138         double mResistiveRotationalEffortX;     
00139         double mResistiveRotationalEffortY;     
00140         double mResistiveRotationalEffortZ;     
00141     };
00142 }
00143 
00144 #endif
00145 /*  End of File */