Representations/Motion/MotorCommands.h

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/**
 * @file MotorCommands.h
 * Declaration of class MotorCommands
 *
 * @author <A href="mailto:roefer@tzi.de">Thomas Röfer</A>
 */ 

#ifndef __MotorCommands_h_
#define __MotorCommands_h_

#include "JointDataBuffer.h"
#include "LEDValue.h"
#include "PIDData.h"

/**
 * A class representing a motor commands vector. 
 */
class MotorCommands
{
public:
  /**
  * a buffer with joint data sets sent in one cycle
  */
  JointDataBuffer jointDataBuffer;

  /**
  * the current LED values
  */
  LEDValue ledValue;

  /**
  * the current PID values
  */
  PIDData pidData;

  /**
   * constructs a MotorCommands.
   */ 
  MotorCommands();

  /**
   * deconstructs a MotorCommands.
   */
  ~MotorCommands();

  /**
   * Fills the joint data buffer.
   * @param buffer The values that will be copied.
   */
  void setVector(const JointDataBuffer &buffer) {jointDataBuffer = buffer;}

  /**
   * Fills the led buffer.
   * @param led The values that will be copied.
   */
  void setLED(const LEDValue &led) {ledValue = led;}
};

/**
 * System-independent operator that reads motor commands from a stream.
 * @param stream The stream from which is read.
 * @param motorCommands The system independent motor commands object.
 * @return The stream.
 */ 
In& operator>>(In& stream,MotorCommands& motorCommands);

#endif //__MotorCommands_h_

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