rotational_interpolation.cpp
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1 /***************************************************************************
2  tag: Erwin Aertbelien Mon May 10 19:10:36 CEST 2004 rotational_interpolation.cxx
3 
4  rotational_interpolation.cxx - description
5  -------------------
6  begin : Mon May 10 2004
7  copyright : (C) 2004 Erwin Aertbelien
8  email : erwin.aertbelien@mech.kuleuven.ac.be
9 
10  ***************************************************************************
11  * This library is free software; you can redistribute it and/or *
12  * modify it under the terms of the GNU Lesser General Public *
13  * License as published by the Free Software Foundation; either *
14  * version 2.1 of the License, or (at your option) any later version. *
15  * *
16  * This library is distributed in the hope that it will be useful, *
17  * but WITHOUT ANY WARRANTY; without even the implied warranty of *
18  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU *
19  * Lesser General Public License for more details. *
20  * *
21  * You should have received a copy of the GNU Lesser General Public *
22  * License along with this library; if not, write to the Free Software *
23  * Foundation, Inc., 59 Temple Place, *
24  * Suite 330, Boston, MA 02111-1307 USA *
25  * *
26  ***************************************************************************/
27 /*****************************************************************************
28  * \author
29  * Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven
30  *
31  * \version
32  * ORO_Geometry V0.2
33  *
34  * \par History
35  * - $log$
36  *
37  * \par Release
38  * $Id: rotational_interpolation.cpp,v 1.1.1.1.2.3 2003/02/24 13:13:06 psoetens Exp $
39  * $Name: $
40  ****************************************************************************/
41 
42 #include "utilities/error.h"
43 #include "utilities/error_stack.h"
44 #include "rotational_interpolation.hpp"
45 #include "rotational_interpolation_sa.hpp"
46 #include <memory>
47 #include <cstring>
48 
49 namespace KDL {
50 
51 using namespace std;
52 
53 RotationalInterpolation* RotationalInterpolation::Read(istream& is) {
54  IOTrace("RotationalInterpolation::Read");
55  char storage[64];
56  EatWord(is,"[",storage,sizeof(storage));
57  Eat(is,'[');
58  if (strcmp(storage,"SINGLEAXIS")==0) {
59  IOTrace("SINGLEAXIS");
60  EatEnd(is,']');
61  IOTracePop();
62  IOTracePop();
63  return new RotationalInterpolation_SingleAxis();
64  } else if (strcmp(storage,"THREEAXIS")==0) {
65  IOTrace("THREEAXIS");
66  throw Error_Not_Implemented();
67  EatEnd(is,']');
68  IOTracePop();
69  IOTracePop();
70  return NULL;
71  } else if (strcmp(storage,"TWOAXIS")==0) {
72  IOTrace("TWOAXIS");
73  throw Error_Not_Implemented();
74  EatEnd(is,']');
75  IOTracePop();
76  IOTracePop();
77  return NULL;
78  } else {
79  throw Error_MotionIO_Unexpected_Traj();
80  }
81  return NULL; // just to avoid the warning;
82 }
83 
84 }
85 
KDL::IOTracePop
void IOTracePop()
pops a description of the IO-stack
KDL::EatEnd
void EatEnd(std::istream &is, int delim)
KDL::EatWord
void EatWord(std::istream &is, const char *delim, char *storage, int maxsize)
rotational_interpolation_sa.hpp
KDL::RotationalInterpolation::Read
static RotationalInterpolation * Read(std::istream &is)
Definition: rotational_interpolation.cpp:53
KDL::Eat
void Eat(std::istream &is, int delim)
rotational_interpolation.hpp
KDL::Error_MotionIO_Unexpected_Traj
Definition: error.h:156
KDL::Error_Not_Implemented
Definition: error.h:239
error_stack.h
KDL::IOTrace
void IOTrace(const std::string &description)
KDL::RotationalInterpolation_SingleAxis
Definition: rotational_interpolation_sa.hpp:63

orocos_kdl
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autogenerated on Fri Mar 12 2021 03:05:44