Merge of itasc branch. Project files, scons and cmake should be working. Makefile updated but not tested. Comes with Eigen2 2.0.6 C++ matrix library.

1 files changed, 70 insertions, 0 deletions

diff --git a/intern/itasc/FixedObject.cpp b/intern/itasc/FixedObject.cpp
new file mode 100644
index 00000000000..1360c3c152b
--- /dev/null
+++ b/intern/itasc/FixedObject.cpp
@@ -0,0 +1,70 @@
+/* $Id: FixedObject.cpp 19905 2009-04-23 13:29:54Z ben2610 $
+ * FixedObject.cpp
+ *
+ *  Created on: Feb 10, 2009
+ *      Author: benoitbolsee
+ */
+
+#include "FixedObject.hpp"
+
+namespace iTaSC{
+
+
+FixedObject::FixedObject():UncontrolledObject(),
+	m_finalized(false), m_nframe(0)
+{
+}
+
+FixedObject::~FixedObject() 
+{
+	m_frameArray.clear();
+}
+
+int FixedObject::addFrame(const std::string& name, const Frame& frame)
+{
+	if (m_finalized)
+		return -1;
+	FrameList::iterator it;
+	unsigned int i;
+	for (i=0, it=m_frameArray.begin(); i<m_nframe; i++, it++) {
+		if (it->first == name) {
+			// this frame will replace the old frame
+			it->second = frame;
+			return i;
+		}
+	}
+	m_frameArray.push_back(FrameList::value_type(name,frame));
+	return m_nframe++;
+}
+
+int FixedObject::addEndEffector(const std::string& name)
+{
+	// verify that this frame name exist
+	FrameList::iterator it;
+	unsigned int i;
+	for (i=0, it=m_frameArray.begin(); i<m_nframe; i++, it++) {
+		if (it->first == name) {
+			return i;
+		}
+	}
+	return -1;
+}
+
+void FixedObject::finalize()
+{
+	if (m_finalized)
+		return;
+	initialize(0, m_nframe);
+	m_finalized = true;
+}
+
+const Frame& FixedObject::getPose(const unsigned int frameIndex)
+{
+	if (frameIndex < m_nframe) {
+		return m_frameArray[frameIndex].second;
+	} else {
+		return F_identity;
+	}
+}
+
+}