ColdetLinkPair.cpp
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00001 /*
00002  * Copyright (c) 2008, AIST, the University of Tokyo and General Robotix Inc.
00003  * All rights reserved. This program is made available under the terms of the
00004  * Eclipse Public License v1.0 which accompanies this distribution, and is
00005  * available at http://www.eclipse.org/legal/epl-v10.html
00006  * Contributors:
00007  * National Institute of Advanced Industrial Science and Technology (AIST)
00008  */
00009 
00010 #include "ColdetLinkPair.h"
00011 
00012 namespace hrp {
00013     
00014     class Link;
00015     
00016         ColdetLinkPair::ColdetLinkPair(Link* link1, Link* link2, double tolerance)
00017          : ColdetModelPair(link1->coldetModel, link2->coldetModel, tolerance) {
00018                 links[0] = link1;
00019         links[1] = link2;
00020     }
00021     
00022     ColdetLinkPair::ColdetLinkPair(const ColdetLinkPair& org)
00023      : ColdetModelPair(org) {
00024         links[0] = org.links[0];
00025         links[1] = org.links[1];
00026     }
00027         
00028     ColdetLinkPair::~ColdetLinkPair() { }
00029         
00030     void ColdetLinkPair::updatePositions() {
00031         model(0)->setPosition(links[0]->R, links[0]->p);
00032         model(1)->setPosition(links[1]->R, links[1]->p);
00033     }
00034         
00035     hrp::Link* ColdetLinkPair::link(int index) { return links[index]; }
00036 }


openhrp3
Author(s): AIST, General Robotix Inc., Nakamura Lab of Dept. of Mechano Informatics at University of Tokyo
autogenerated on Sun Apr 2 2017 03:43:53