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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()
{
}
}
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