partial_movement.cpp

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#include "sr_movements/partial_movement.hpp"

namespace shadowrobot
{
  PartialMovement::PartialMovement()
  {}

  PartialMovement::~PartialMovement()
  {}

  double PartialMovement::get_target(double percentage)
  {
    if (percentage < 0.0)
      percentage = 0.0;
    if (percentage > 1.0)
      percentage = 1.0;

    int index = static_cast<int>(steps.size() * static_cast<double>(percentage));
    return steps[index];
  }
}  // namespace shadowrobot

/* For the emacs weenies in the crowd.
Local Variables:
   c-basic-offset: 2
End:
*/