1 files changed, 75 insertions, 0 deletions
diff --git a/intern/itasc/kdl/chain.cpp b/intern/itasc/kdl/chain.cpp
new file mode 100644
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+++ b/intern/itasc/kdl/chain.cpp
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+// Copyright  (C)  2007  Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
+
+// Version: 1.0
+// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
+// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
+// URL: http://www.orocos.org/kdl
+
+// This library is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 2.1 of the License, or (at your option) any later version.
+
+// This library is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+// Lesser General Public License for more details.
+
+// You should have received a copy of the GNU Lesser General Public
+// License along with this library; if not, write to the Free Software
+// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+
+#include "chain.hpp"
+
+namespace KDL {
+    using namespace std;
+
+    Chain::Chain():
+        segments(0),
+        nrOfJoints(0),
+        nrOfSegments(0)
+    {
+    }
+
+    Chain::Chain(const Chain& in):nrOfJoints(0),
+                                  nrOfSegments(0)
+    {
+        for(unsigned int i=0;i<in.getNrOfSegments();i++)
+            this->addSegment(in.getSegment(i));
+    }
+
+    Chain& Chain::operator=(const Chain& arg)
+    {
+        nrOfJoints=0;
+        nrOfSegments=0;
+        segments.resize(0);
+        for(unsigned int i=0;i<arg.nrOfSegments;i++)
+            addSegment(arg.getSegment(i));
+        return *this;
+
+    }
+
+    void Chain::addSegment(const Segment& segment)
+    {
+        segments.push_back(segment);
+        nrOfSegments++;
+		nrOfJoints += segment.getJoint().getNDof();
+    }
+
+    void Chain::addChain(const Chain& chain)
+    {
+        for(unsigned int i=0;i<chain.getNrOfSegments();i++)
+            this->addSegment(chain.getSegment(i));
+    }
+
+    const Segment& Chain::getSegment(unsigned int nr) const
+    {
+        return segments[nr];
+    }
+
+    Chain::~Chain()
+    {
+    }
+
+}
+