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Diffstat (limited to 'intern/itasc/kdl/chain.cpp')
-rw-r--r-- | intern/itasc/kdl/chain.cpp | 75 |
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 index 00000000000..638366c96be --- /dev/null +++ b/intern/itasc/kdl/chain.cpp @@ -0,0 +1,75 @@ +// 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() + { + } + +} + |