Representations/Motion/JointDataSequence.h

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/** 
* @file JointDataSequence.h
*
* Definition of JointDataSequence class.
* The JointDataSequence is a sequence of joint data sets 
* with timing and interpolation information.
* This is sent from PC to robot and executed by DebugMotionControl.
*
* @author Max Risler
*/
#ifndef __JOINTDATASEQUENCE_H__
#define __JOINTDATASEQUENCE_H__

#include "JointData.h"

#include "Tools/Streams/InOut.h"

/** Maximum number of entries per sequence. */
static const int jointDataSequenceMaxNumOfEntries = 400;

/**
* The JointDataSequence is a sequence of joint data sets 
* with timing and interpolation information.
*
* This is sent from PC to robot and executed by DebugMotionControl.
*/
class JointDataSequence
{
public:
  /** Constructor */
  JointDataSequence();
  
 /** Assignment operator */
  JointDataSequence& operator=(const JointDataSequence& other);

  /** Number of Entries */
  int numOfEntries;

  /** If true sequence is executed repeatedly */
  bool loop;

  /** adds an entry at end of the sequence */
  void addEntry(const JointData& jointData, bool interp, int rep);


  /** The joint data entries */
  JointData entry[jointDataSequenceMaxNumOfEntries];

  /** Number of times an entry gets repeated */
  int repeats[jointDataSequenceMaxNumOfEntries];

  /** If true linear interpolation will be done to get to this entry from last */ 
  bool interpolate[jointDataSequenceMaxNumOfEntries];
};

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

#endif //__JOINTDATASEQUENCE_H__

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