rotational_interpolation.cpp
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00001 /***************************************************************************
00002   tag: Erwin Aertbelien  Mon May 10 19:10:36 CEST 2004  rotational_interpolation.cxx
00003 
00004                         rotational_interpolation.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: rotational_interpolation.cpp,v 1.1.1.1.2.3 2003/02/24 13:13:06 psoetens Exp $
00039  *              $Name:  $
00040  ****************************************************************************/
00041 
00042 #include "utilities/error.h"
00043 #include "utilities/error_stack.h"
00044 #include "rotational_interpolation.hpp"
00045 #include "rotational_interpolation_sa.hpp"
00046 #include <memory>
00047 #include <cstring>
00048 
00049 namespace KDL {
00050 
00051 using namespace std;
00052 
00053 RotationalInterpolation* RotationalInterpolation::Read(istream& is) {
00054         // auto_ptr because exception can be thrown !
00055         IOTrace("RotationalInterpolation::Read");
00056         char storage[64];
00057         EatWord(is,"[",storage,sizeof(storage));
00058         Eat(is,'[');
00059         if (strcmp(storage,"SINGLEAXIS")==0) {
00060                 IOTrace("SINGLEAXIS");
00061                 EatEnd(is,']');
00062                 IOTracePop();
00063                 IOTracePop();
00064                 return new RotationalInterpolation_SingleAxis();
00065         } else if (strcmp(storage,"THREEAXIS")==0) {
00066                 IOTrace("THREEAXIS");
00067                 throw Error_Not_Implemented();
00068                 EatEnd(is,']');
00069                 IOTracePop();
00070                 IOTracePop();
00071                 return NULL;
00072         } else if (strcmp(storage,"TWOAXIS")==0) {
00073                 IOTrace("TWOAXIS");
00074                 throw Error_Not_Implemented();
00075                 EatEnd(is,']');
00076                 IOTracePop();
00077                 IOTracePop();
00078                 return NULL;
00079         } else {
00080                 throw Error_MotionIO_Unexpected_Traj();
00081         }
00082         return NULL; // just to avoid the warning;
00083 }
00084 
00085 }
00086 


orocos_kdl
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autogenerated on Wed Aug 26 2015 15:14:14