概述

JointTrajPt类封装了机器人关节轨迹数据，功能是作为一条trajectory上的某一个中间点，旨在模仿ROS中的JointTrajectoryPoint类型的消息，不同之处在于：关节velocity数据是一个单独的值，而ROS中是一个float64类型的数组，duration参数代表的是本轨迹点运动所持续的时间，而ROS中指的是从轨迹开始后计算的时间。

namespace industrial
{
namespace joint_traj_pt
{

namespace SpecialSeqValues
{
enum SpecialSeqValue
{
  START_TRAJECTORY_DOWNLOAD  = -1, //Downloading模式的轨迹开始信号
  START_TRAJECOTRY_STREAMING = -2, //deprecated
  START_TRAJECTORY_STREAMING = -2, //Streaming模式的轨迹开始信号
  END_TRAJECTORY  = -3, //Downloading模式的轨迹结束信号
  STOP_TRAJECTORY = -4 //要求控制器尽快停止运动
};
}
typedef SpecialSeqValues::SpecialSeqValue SpecialSeqValue;


class JointTrajPt : public industrial::simple_serialize::SimpleSerialize
{
public:

  JointTrajPt(void);
  ~JointTrajPt(void);
  void init();
  //初始化，创建完整的轨迹点
  void init(industrial::shared_types::shared_int sequence, industrial::joint_data::JointData & position,
            industrial::shared_types::shared_real velocity, industrial::shared_types::shared_real duration);

  void setJointPosition(industrial::joint_data::JointData &position)
  {
    this->joint_position_.copyFrom(position);
  }

  void getJointPosition(industrial::joint_data::JointData &dest)
  {
    dest.copyFrom(this->joint_position_);
  }

  void setSequence(industrial::shared_types::shared_int sequence)
  {
    this->sequence_ = sequence;
  }

  industrial::shared_types::shared_int getSequence()
  {
    return this->sequence_;
  }

  void setVelocity(industrial::shared_types::shared_real velocity)
  {
    this->velocity_ = velocity;
  }

  industrial::shared_types::shared_real getVelocity()
  {
    return this->velocity_;
  }

  void setDuration(industrial::shared_types::shared_real duration)
  {
    this->duration_ = duration;
  }

  industrial::shared_types::shared_real getDuration()
  {
    return this->duration_;
  }

  void copyFrom(JointTrajPt &src);

  bool operator==(JointTrajPt &rhs);

  // Overrides - SimpleSerialize
  bool load(industrial::byte_array::ByteArray *buffer);
  bool unload(industrial::byte_array::ByteArray *buffer);

  unsigned int byteLength()
  {
    return sizeof(industrial::shared_types::shared_real) + sizeof(industrial::shared_types::shared_int)
        + this->joint_position_.byteLength();
  }

private:
  //关节位置
  industrial::joint_data::JointData joint_position_;
  //关节速度
  industrial::shared_types::shared_real velocity_;
  //轨迹序号
  industrial::shared_types::shared_int sequence_;
  //本路径点所需的时间
  industrial::shared_types::shared_real duration_;

};

}
}

里面的各个方法和上一篇中的JointData是类似的，不再列举说明。