partial_movement.cpp

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/*
* Copyright 2019 Shadow Robot Company Ltd.
*
* This program is free software: you can redistribute it and/or modify it
* under the terms of the GNU General Public License as published by the Free
* Software Foundation version 2 of the License.
*
* This program is distributed in the hope that it will be useful, but WITHOUT
* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
* FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
* more details.
*
* You should have received a copy of the GNU General Public License along
* with this program. If not, see <http://www.gnu.org/licenses/>.
*/

#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:
*/