orocos_kdl: orocos_kdl: trajectory.cpp Source File

00001 /***************************************************************************
00002   tag: Erwin Aertbelien  Mon May 10 19:10:36 CEST 2004  trajectory.cxx
00003 
00004                         trajectory.cxx -  description
00005                            -------------------
00006     begin                : Mon May 10 2004
00007     copyright            : (C) 2004 Erwin Aertbelien
00008     email                : erwin.aertbelien@mech.kuleuven.ac.be
00009 
00010  ***************************************************************************
00011  *   This library is free software; you can redistribute it and/or         *
00012  *   modify it under the terms of the GNU Lesser General Public            *
00013  *   License as published by the Free Software Foundation; either          *
00014  *   version 2.1 of the License, or (at your option) any later version.    *
00015  *                                                                         *
00016  *   This library is distributed in the hope that it will be useful,       *
00017  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
00018  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU     *
00019  *   Lesser General Public License for more details.                       *
00020  *                                                                         *
00021  *   You should have received a copy of the GNU Lesser General Public      *
00022  *   License along with this library; if not, write to the Free Software   *
00023  *   Foundation, Inc., 59 Temple Place,                                    *
00024  *   Suite 330, Boston, MA  02111-1307  USA                                *
00025  *                                                                         *
00026  ***************************************************************************/
00027 /*****************************************************************************
00028  *  \author
00029  *      Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven
00030  *
00031  *  \version
00032  *              ORO_Geometry V0.2
00033  *
00034  *      \par History
00035  *              - $log$
00036  *
00037  *      \par Release
00038  *              $Id: trajectory.cpp,v 1.1.1.1.2.4 2003/07/18 14:58:36 psoetens Exp $
00039  *              $Name:  $
00040  ****************************************************************************/
00041 
00042 
00043 #include "utilities/error.h"
00044 #include "utilities/error_stack.h"
00045 #include "trajectory.hpp"
00046 #include "path.hpp"
00047 #include "trajectory_segment.hpp"
00048 
00049 #include <memory>
00050 #include <cstring>
00051 
00052 
00053 namespace KDL {
00054 
00055 using namespace std;
00056 
00057 Trajectory* Trajectory::Read(std::istream& is) {
00058         // auto_ptr because exception can be thrown !
00059         IOTrace("Trajectory::Read");
00060         char storage[64];
00061         EatWord(is,"[",storage,sizeof(storage));
00062         Eat(is,'[');
00063         if (strcmp(storage,"SEGMENT")==0) {
00064                 IOTrace("SEGMENT");
00065                 auto_ptr<Path>      geom(    Path::Read(is)       );
00066                 auto_ptr<VelocityProfile> motprof( VelocityProfile::Read(is)  );
00067                 EatEnd(is,']');
00068                 IOTracePop();
00069                 IOTracePop();
00070                 return new  Trajectory_Segment(geom.release(),motprof.release());
00071         } else {
00072                 throw Error_MotionIO_Unexpected_Traj();
00073         }
00074         return NULL; // just to avoid the warning;
00075 }
00076 
00077 
00078 
00079 }
00080