.. index:: pair: class; gazebo::JointDataPackController
.. _doxid-classgazebo_1_1_joint_data_pack_controller:

class gazebo::JointDataPackController
=====================================

.. toctree::
	:hidden:

Overview
~~~~~~~~

Interface for a single joint. :ref:`More...<details-classgazebo_1_1_joint_data_pack_controller>`


.. ref-code-block:: cpp
	:class: doxyrest-overview-code-block

	#include <joint_datapack_controller.h>
	
	class JointDataPackController: public :ref:`JsonDataPackController<doxid-class_json_data_pack_controller>` {
	public:
		// construction
	
		:target:`JointDataPackController<doxid-classgazebo_1_1_joint_data_pack_controller_1a2b146b0596ca2caa30b9820891f7cd7f>`(
			const physics::JointPtr& joint,
			const physics::JointControllerPtr& jointController,
			const std::string& jointName
		);

		// methods
	
		virtual void :ref:`handleDataPackData<doxid-classgazebo_1_1_joint_data_pack_controller_1a713f98fddd3f925121b359ce29ecce3c>`(const :ref:`nlohmann::json<doxid-engine__json__server_8cpp_1ab701e3ac61a85b337ec5c1abaad6742d>`& data);
		virtual :ref:`nlohmann::json<doxid-engine__json__server_8cpp_1ab701e3ac61a85b337ec5c1abaad6742d>`* :ref:`getDataPackInformation<doxid-classgazebo_1_1_joint_data_pack_controller_1a0bd9ecfcd64e718073c27eef837b92ae>`();
	};

Inherited Members
-----------------

.. ref-code-block:: cpp
	:class: doxyrest-overview-inherited-code-block

	public:
		// methods
	
		virtual DATA_TYPE* :ref:`getDataPackInformation<doxid-class_data_pack_controller_1a357fffcf131e7a69a79a209b25d9c1b7>`() = 0;
		virtual void :ref:`handleDataPackData<doxid-class_data_pack_controller_1ad13d0bef2cbad271cd59a1061ed416f9>`(const DATA_TYPE& data) = 0;
		const :ref:`nlohmann::json<doxid-engine__json__server_8cpp_1ab701e3ac61a85b337ec5c1abaad6742d>`& :ref:`getEmptyDataPack<doxid-class_json_data_pack_controller_1a23f08f76aa5fc165adc7020ae67f0dbf>`() const;

.. _details-classgazebo_1_1_joint_data_pack_controller:

Detailed Documentation
~~~~~~~~~~~~~~~~~~~~~~

Interface for a single joint.

Methods
-------

.. index:: pair: function; handleDataPackData
.. _doxid-classgazebo_1_1_joint_data_pack_controller_1a713f98fddd3f925121b359ce29ecce3c:

.. ref-code-block:: cpp
	:class: doxyrest-title-code-block

	virtual void handleDataPackData(const :ref:`nlohmann::json<doxid-engine__json__server_8cpp_1ab701e3ac61a85b337ec5c1abaad6742d>`& data)

Handle received datapack data.



.. rubric:: Parameters:

.. list-table::
	:widths: 20 80

	*
		- data

		- Data to be processed

.. index:: pair: function; getDataPackInformation
.. _doxid-classgazebo_1_1_joint_data_pack_controller_1a0bd9ecfcd64e718073c27eef837b92ae:

.. ref-code-block:: cpp
	:class: doxyrest-title-code-block

	virtual :ref:`nlohmann::json<doxid-engine__json__server_8cpp_1ab701e3ac61a85b337ec5c1abaad6742d>`* getDataPackInformation()

Get datapack information to be forwarded to the NRP.



.. rubric:: Returns:

Returns a DATA_TYPE pointer containing requested data