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# Representations/Motion/JointDataBuffer.h

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    00001 /**
    00002 * @file JointDataBuffer.h
    00003 *
    00004 * Definition of JointDataBuffer class.
    00005 * The jointdata struct is a non NDA violating description of joint vector data
    00006 *
    00007 * @author Max Risler
    00008 */
    00009 #ifndef __JOINTDATABUFFER_H__
    00010 #define __JOINTDATABUFFER_H__
    00011
    00012 #include "JointData.h"
    00013
    00014 #include "Tools/Streams/InOut.h"
    00015
    00016 /** Number of frames in the buffer.
    00017 * This number defines how many frames are computed each run,
    00018 * and therefore how often Motion::execute will be called.
    00019 */
    00020 static const int jointDataBufferNumOfFrames = 1;
    00021
    00022
    00023 /**
    00024 * A buffer for joint data sets, containing all frames computed in one call of Motion::execute.
    00025 * @author Max Risler
    00026 */
    00027 struct JointDataBuffer
    00028 {
    00029 public:
    00030   /** Constructor */
    00031   JointDataBuffer();
    00032
    00033   /** The joint data frames */
    00034   JointData frame[jointDataBufferNumOfFrames];
    00035 };
    00036
    00037 /**
    00038  * Streaming operator that reads a JointDataBuffer from a stream.
    00039  * @param stream The stream from which is read.
    00040  * @param jointDataBuffer The JointDataBuffer object.
    00041  * @return The stream.
    00042  */
    00043 In& operator>>(In& stream,JointDataBuffer& jointDataBuffer);
    00044
    00045 /**
    00046  * Streaming operator that writes a JointDataBuffer to a stream.
    00047  * @param stream The stream to write on.
    00048  * @param jointDataBuffer The JointDataBuffer object.
    00049  * @return The stream.
    00050  */
    00051 Out& operator<<(Out& stream, const JointDataBuffer& jointDataBuffer);
    00052
    00053 #endif //__JOINTDATABUFFER_H__