chain.cpp
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00001 // Copyright  (C)  2007  Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
00002 
00003 // Version: 1.0
00004 // Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
00005 // Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
00006 // URL: http://www.orocos.org/kdl
00007 
00008 // This library is free software; you can redistribute it and/or
00009 // modify it under the terms of the GNU Lesser General Public
00010 // License as published by the Free Software Foundation; either
00011 // version 2.1 of the License, or (at your option) any later version.
00012 
00013 // This library is distributed in the hope that it will be useful,
00014 // but WITHOUT ANY WARRANTY; without even the implied warranty of
00015 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
00016 // Lesser General Public License for more details.
00017 
00018 // You should have received a copy of the GNU Lesser General Public
00019 // License along with this library; if not, write to the Free Software
00020 // Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
00021 
00022 #include "chain.hpp"
00023 
00024 namespace KDL {
00025     using namespace std;
00026 
00027     Chain::Chain():
00028             nrOfJoints(0),
00029             nrOfSegments(0),
00030             segments(0)
00031     {
00032     }
00033 
00034     Chain::Chain(const Chain& in):
00035             nrOfJoints(0),
00036             nrOfSegments(0),
00037             segments(0)
00038     {
00039         for(unsigned int i=0;i<in.getNrOfSegments();i++)
00040             this->addSegment(in.getSegment(i));
00041     }
00042 
00043     Chain& Chain::operator=(const Chain& arg)
00044     {
00045         nrOfJoints=0;
00046         nrOfSegments=0;
00047         segments.resize(0);
00048         for(unsigned int i=0;i<arg.nrOfSegments;i++)
00049             addSegment(arg.getSegment(i));
00050         return *this;
00051 
00052     }
00053 
00054     void Chain::addSegment(const Segment& segment)
00055     {
00056         segments.push_back(segment);
00057         nrOfSegments++;
00058         if(segment.getJoint().getType()!=Joint::None)
00059             nrOfJoints++;
00060     }
00061 
00062     void Chain::addChain(const Chain& chain)
00063     {
00064         for(unsigned int i=0;i<chain.getNrOfSegments();i++)
00065             this->addSegment(chain.getSegment(i));
00066     }
00067 
00068     const Segment& Chain::getSegment(unsigned int nr)const
00069     {
00070         return segments[nr];
00071     }
00072 
00073     Chain::~Chain()
00074     {
00075     }
00076 
00077 }
00078 


orocos_kdl
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autogenerated on Sat Oct 7 2017 03:04:28