model_config.cpp

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#include "fcl/articulated_model/model_config.h"
#include "fcl/articulated_model/joint.h"
#include <algorithm>

namespace fcl
{

ModelConfig::ModelConfig() {}

ModelConfig::ModelConfig(const ModelConfig& model_cfg) :
  joint_cfgs_map_(model_cfg.joint_cfgs_map_)
{}

ModelConfig::ModelConfig(std::map<std::string, boost::shared_ptr<Joint> > joints_map)
{
  std::map<std::string, boost::shared_ptr<Joint> >::iterator it;
  for(it = joints_map.begin(); it != joints_map.end(); ++it)
    joint_cfgs_map_[it->first] = JointConfig(it->second);
}

JointConfig ModelConfig::getJointConfigByJointName(const std::string& joint_name) const
{
  std::map<std::string, JointConfig>::const_iterator it = joint_cfgs_map_.find(joint_name);
  BOOST_ASSERT_MSG((it != joint_cfgs_map_.end()), "Joint name not valid");

  return it->second;
}

JointConfig& ModelConfig::getJointConfigByJointName(const std::string& joint_name)
{
  std::map<std::string, JointConfig>::iterator it = joint_cfgs_map_.find(joint_name);
  BOOST_ASSERT_MSG((it != joint_cfgs_map_.end()), "Joint name not valid");

  return it->second;
}

JointConfig ModelConfig::getJointConfigByJoint(boost::shared_ptr<Joint> joint) const
{
  return getJointConfigByJointName(joint->getName());
}

JointConfig& ModelConfig::getJointConfigByJoint(boost::shared_ptr<Joint> joint)
{
  return getJointConfigByJointName(joint->getName());
}


}