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