path.cpp

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/***************************************************************************
  tag: Erwin Aertbelien  Mon May 10 19:10:36 CEST 2004  path.cxx

                        path.cxx -  description
                           -------------------
    begin                : Mon May 10 2004
    copyright            : (C) 2004 Erwin Aertbelien
    email                : erwin.aertbelien@mech.kuleuven.ac.be

 ***************************************************************************
 *   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., 59 Temple Place,                                    *
 *   Suite 330, Boston, MA  02111-1307  USA                                *
 *                                                                         *
 ***************************************************************************/

/*****************************************************************************
 *  \author
 *      Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven
 *
 *  \version
 *              ORO_Geometry V0.2
 *
 *      \par History
 *              - $log$
 *
 *      \par Release
 *              $Id: path.cpp,v 1.1.1.1.2.4 2003/07/18 14:49:50 psoetens Exp $
 *              $Name:  $
 ****************************************************************************/


#include "utilities/error.h"
#include "utilities/error_stack.h"
#include "utilities/scoped_ptr.hpp"
#include "path.hpp"
#include "path_line.hpp"
#include "path_point.hpp"
#include "path_circle.hpp"
#include "path_composite.hpp"
#include "path_roundedcomposite.hpp"
#include "path_cyclic_closed.hpp"
#include <memory>
#include <string.h>

namespace KDL {

using namespace std;


Path* Path::Read(istream& is) {
        // auto_ptr because exception can be thrown !
        IOTrace("Path::Read");
        char storage[64];
        EatWord(is,"[",storage,sizeof(storage));
        Eat(is,'[');
        if (strcmp(storage,"POINT")==0) {
                IOTrace("POINT");
                Frame startpos;
                is >> startpos;
                EatEnd(is,']');
                IOTracePop();
                IOTracePop();
                return new Path_Point(startpos);
        } else  if (strcmp(storage,"LINE")==0) {
                IOTrace("LINE");
                Frame startpos;
                Frame endpos;
                is >> startpos;
                is >> endpos;
                scoped_ptr<RotationalInterpolation> orient( RotationalInterpolation::Read(is) );
                double eqradius;
                is >> eqradius;
                EatEnd(is,']');
                IOTracePop();
                IOTracePop();
                return new Path_Line(startpos,endpos,orient.release(),eqradius);
        } else if (strcmp(storage,"CIRCLE")==0) {
                IOTrace("CIRCLE");
                Frame F_base_start;
                Vector V_base_center;
                Vector V_base_p;
                Rotation R_base_end;
                double alpha;
                double eqradius;
                is >> F_base_start;
                is >> V_base_center;
                is >> V_base_p;
                is >> R_base_end;
                is >> alpha;
                alpha *= deg2rad;
                scoped_ptr<RotationalInterpolation> orient( RotationalInterpolation::Read(is) );
                is >> eqradius;
                EatEnd(is,']');
                IOTracePop();
                IOTracePop();
                return new Path_Circle(
                                                F_base_start,
                                                V_base_center,
                                                V_base_p,
                                                R_base_end,
                                                alpha,
                                                orient.release() ,
                                                eqradius
                                        );
        } else if (strcmp(storage,"ROUNDEDCOMPOSITE")==0) {
                IOTrace("ROUNDEDCOMPOSITE");
                double radius;
                is >> radius;
                double eqradius;
                is >> eqradius;
                scoped_ptr<RotationalInterpolation> orient( RotationalInterpolation::Read(is) );
                scoped_ptr<Path_RoundedComposite> tr(
                        new Path_RoundedComposite(radius,eqradius,orient.release())
                );
                int size;
                is >> size;
                int i;
                for (i=0;i<size;i++) {
                        Frame f;
                        is >> f;
                        tr->Add(f);
                }
                tr->Finish();
                EatEnd(is,']');
                IOTracePop();
                IOTracePop();
                return tr.release();
        } else if (strcmp(storage,"COMPOSITE")==0) {
                IOTrace("COMPOSITE");
                int size;
                scoped_ptr<Path_Composite> tr( new Path_Composite() );
                is >> size;
                int i;
                for (i=0;i<size;i++) {
                        tr->Add(Path::Read(is));
                }
                EatEnd(is,']');
                IOTracePop();
                IOTracePop();
                return tr.release();
        } else if (strcmp(storage,"CYCLIC_CLOSED")==0) {
                IOTrace("CYCLIC_CLOSED");
                int times;
                scoped_ptr<Path> tr( Path::Read(is) );
                is >> times;
                EatEnd(is,']');
                IOTracePop();
                IOTracePop();
                return new Path_Cyclic_Closed(tr.release(),times);
        } else {
                throw Error_MotionIO_Unexpected_Traj();
        }
        return NULL; // just to avoid the warning;
}



}