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# Representations/Motion/MotorCommands.h

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    00001 /**
    00002  * @file MotorCommands.h
    00003  * Declaration of class MotorCommands
    00004  *
    00005  * @author <A href="mailto:roefer@tzi.de">Thomas Röfer</A>
    00006  */
    00007
    00008 #ifndef __MotorCommands_h_
    00009 #define __MotorCommands_h_
    00010
    00011 #include "JointDataBuffer.h"
    00012 #include "LEDValue.h"
    00013 #include "PIDData.h"
    00014
    00015 /**
    00016  * A class representing a motor commands vector.
    00017  */
    00018 class MotorCommands
    00019 {
    00020 public:
    00021   /**
    00022   * a buffer with joint data sets sent in one cycle
    00023   */
    00024   JointDataBuffer jointDataBuffer;
    00025
    00026   /**
    00027   * the current LED values
    00028   */
    00029   LEDValue ledValue;
    00030
    00031   /**
    00032   * the current PID values
    00033   */
    00034   PIDData pidData;
    00035
    00036   /**
    00037    * constructs a MotorCommands.
    00038    */
    00039   MotorCommands();
    00040
    00041   /**
    00042    * deconstructs a MotorCommands.
    00043    */
    00044   ~MotorCommands();
    00045
    00046   /**
    00047    * Fills the joint data buffer.
    00048    * @param buffer The values that will be copied.
    00049    */
    00050   void setVector(const JointDataBuffer &buffer) {jointDataBuffer = buffer;}
    00051
    00052   /**
    00053    * Fills the led buffer.
    00054    * @param led The values that will be copied.
    00055    */
    00056   void setLED(const LEDValue &led) {ledValue = led;}
    00057 };
    00058
    00059 /**
    00060  * System-independent operator that reads motor commands from a stream.
    00061  * @param stream The stream from which is read.
    00062  * @param motorCommands The system independent motor commands object.
    00063  * @return The stream.
    00064  */
    00065 In& operator>>(In& stream,MotorCommands& motorCommands);
    00066
    00067 #endif //__MotorCommands_h_