hrpsys: ForwardKinematicsService

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00001 #include "ForwardKinematicsService_impl.h"
00002 #include "ForwardKinematics.h"
00003 
00004 ForwardKinematicsService_impl::ForwardKinematicsService_impl() : m_comp(NULL)
00005 {
00006 }
00007 
00008 ForwardKinematicsService_impl::~ForwardKinematicsService_impl()
00009 {
00010 }
00011 
00012 
00013 void ForwardKinematicsService_impl::setComp(ForwardKinematics *i_comp)
00014 {
00015     m_comp = i_comp;
00016 }
00017 
00018 ::CORBA::Boolean ForwardKinematicsService_impl::selectBaseLink(const char* linkname)
00019 {
00020     return m_comp->selectBaseLink(linkname);
00021 }
00022 
00023 
00024 ::CORBA::Boolean ForwardKinematicsService_impl::getReferencePose(const char* linkname, RTC::TimedDoubleSeq_out pose)
00025 {
00026     char* frame_name = (char *)strrchr(linkname, ':');
00027     if ( frame_name ) {
00028         ((char *)linkname)[frame_name - linkname] = '\0'; // cut frame_name, linkname[strpos(':')] = 0x00
00029         frame_name++; // skip ":"
00030     }
00031     return m_comp->getReferencePose(linkname, pose, frame_name);
00032 }
00033 ::CORBA::Boolean ForwardKinematicsService_impl::getCurrentPose(const char* linkname, RTC::TimedDoubleSeq_out pose)
00034 {
00035     char* frame_name = (char *)strrchr(linkname, ':');
00036     if ( frame_name ) {
00037         ((char *)linkname)[frame_name - linkname] = '\0'; // cut frame_name, linkname[strpos(':')] = 0x00
00038         frame_name++; // skip ":"
00039     }
00040     return m_comp->getCurrentPose(linkname, pose, frame_name);
00041 }
00042 
00043 ::CORBA::Boolean ForwardKinematicsService_impl::getRelativeCurrentPosition(const char* linknameFrom, const char *linknameTo, const OpenHRP::ForwardKinematicsService::position target, OpenHRP::ForwardKinematicsService::position result)
00044 {
00045     return m_comp->getRelativeCurrentPosition(linknameFrom, linknameTo, target, result);
00046 }