Representations/Motion/JointDataBuffer.h

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/** 
* @file JointDataBuffer.h
*
* Definition of JointDataBuffer class.
* The jointdata struct is a non NDA violating description of joint vector data
*
* @author Max Risler
*/
#ifndef __JOINTDATABUFFER_H__
#define __JOINTDATABUFFER_H__

#include "JointData.h"

#include "Tools/Streams/InOut.h"

/** Number of frames in the buffer.
* This number defines how many frames are computed each run, 
* and therefore how often Motion::execute will be called.
*/
static const int jointDataBufferNumOfFrames = 1;


/**
* A buffer for joint data sets, containing all frames computed in one call of Motion::execute.
* @author Max Risler
*/
struct JointDataBuffer
{
public:
  /** Constructor */
  JointDataBuffer();
  
  /** The joint data frames */
  JointData frame[jointDataBufferNumOfFrames];
};

/**
 * Streaming operator that reads a JointDataBuffer from a stream.
 * @param stream The stream from which is read.
 * @param jointDataBuffer The JointDataBuffer object.
 * @return The stream.
 */ 
In& operator>>(In& stream,JointDataBuffer& jointDataBuffer);
 
/**
 * Streaming operator that writes a JointDataBuffer to a stream.
 * @param stream The stream to write on.
 * @param jointDataBuffer The JointDataBuffer object.
 * @return The stream.
 */ 
Out& operator<<(Out& stream, const JointDataBuffer& jointDataBuffer);

#endif //__JOINTDATABUFFER_H__

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