text: #ifndef ROMOCC_MESSAGEDECODER_H
  #define ROMOCC_MESSAGEDECODER_H
  
  #include "romocc/core/ForwardDeclarations.h"
  #include "romocc/robotics/RobotState.h"
  
  namespace romocc
  {
  
  struct ROMOCC_EXPORT JointState
  {
      Eigen::RowVectorXd jointConfiguration;
      Eigen::RowVectorXd jointVelocity;
      double timestamp = 0;
  };
  
  class ROMOCC_EXPORT MessageDecoder : public Object
  {
      public:
          virtual JointState analyzeTCPSegment(unsigned char* packet) = 0;
  
  };
  
  }
  
  #endif //ROMOCC_MESSAGEDECODER_H
  