velocityprofile.cpp

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/***************************************************************************
  tag: Erwin Aertbelien  Mon May 10 19:10:36 CEST 2004  velocityprofile.cxx

                        velocityprofile.cxx -  description
                           -------------------
    begin                : Mon May 10 2004
    copyright            : (C) 2004 Erwin Aertbelien
    email                : erwin.aertbelien@mech.kuleuven.ac.be

 ***************************************************************************
 *   This library is free software; you can redistribute it and/or         *
 *   modify it under the terms of the GNU Lesser General Public            *
 *   License as published by the Free Software Foundation; either          *
 *   version 2.1 of the License, or (at your option) any later version.    *
 *                                                                         *
 *   This library 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     *
 *   Lesser General Public License for more details.                       *
 *                                                                         *
 *   You should have received a copy of the GNU Lesser General Public      *
 *   License along with this library; if not, write to the Free Software   *
 *   Foundation, Inc., 59 Temple Place,                                    *
 *   Suite 330, Boston, MA  02111-1307  USA                                *
 *                                                                         *
 ***************************************************************************/
/*****************************************************************************
 *  \author
 *      Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven
 *
 *  \version
 *              ORO_Geometry V0.2
 *
 *      \par History
 *              - $log$
 *
 *      \par Release
 *              $Id: velocityprofile.cpp,v 1.1.1.1.2.3 2003/02/24 13:13:06 psoetens Exp $
 *              $Name:  $
 ****************************************************************************/


#include "utilities/error.h"
#include "utilities/error_stack.h"
#include "velocityprofile_rect.hpp"
#include "velocityprofile_dirac.hpp"
#include "velocityprofile_trap.hpp"
#include "velocityprofile_traphalf.hpp"
#include <string.h>

namespace KDL {

using namespace std;

VelocityProfile* VelocityProfile::Read(istream& is) {
        IOTrace("VelocityProfile::Read");
        char storage[25];
        EatWord(is,"[",storage,sizeof(storage));
        Eat(is,'[');
        if (strcmp(storage,"DIRACVEL")==0) {
                Eat(is,']');
                IOTracePop();
                return new VelocityProfile_Dirac();
        } else if (strcmp(storage,"CONSTVEL")==0) {
                double vel;
                is >> vel;
                Eat(is,']');
                IOTracePop();
                return new VelocityProfile_Rectangular(vel);
        } else if (strcmp(storage,"TRAPEZOIDAL")==0) {
                double maxvel;
                double maxacc;
                is >> maxvel;
                Eat(is,',');
                is >> maxacc;
                Eat(is,']');
                IOTracePop();
                return new VelocityProfile_Trap(maxvel,maxacc);
        } else if (strcmp(storage,"TRAPEZOIDALHALF")==0) {
                double maxvel;
                double maxacc;
                is >> maxvel;
                Eat(is,',');
                is >> maxacc;
                Eat(is,',');
                bool starting;
                is >> starting;
                Eat(is,']');
                IOTracePop();
                return new VelocityProfile_TrapHalf(maxvel,maxacc,starting);
        }
        else {
                throw Error_MotionIO_Unexpected_MotProf();
        }
    return 0;
}



}