industrical driver basic class

std::deque<char> buffer_; //双向队列存储数据
std::vector<char> getRawDataPtr_buffer_;//temporary continuous buffer for getRawDataPtr() use

load();//load the data to this,revise the size
unload();//upload this.data to data

virtual unsigned int byteLength ()=0
//Virtual method returns the object size when packed into a ByteArray
virtual bool load (industrial::byte_array::ByteArray *buffer)=0
//Virtual method for loading an object into a ByteArray
virtual bool unload (industrial::byte_array::ByteArray *buffer)=0
//Virtual method for unloading an object from a ByteArray

/*
inherited from: simple_serialize
data: data_size and data_array
*/
private:
    shared_int MAX_NUM_JOINTS = 10;
    shared_real joints_[MAX_NUM_JOINTS];

/*
inherited from: simple_serialize
data: 以joint_data为数据点
*/
private:
    shared_real duration;//joint move duration
    JointData joint_position_;
    shared_int sequence_;//sequence number 第几个点
    shared_real velovity_;

/*
inherited from: simple_serialize
*/
JointTrajPt points_ [MAX_NUM_POINTS];
static const shared_int MAX_NUM_POINTS = 200;
shared_int  size_;