model_config.cpp
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00001 /*
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00034 
00037 #include "fcl/articulated_model/model_config.h"
00038 #include "fcl/articulated_model/joint.h"
00039 #include <algorithm>
00040 
00041 namespace fcl
00042 {
00043 
00044 ModelConfig::ModelConfig() {}
00045 
00046 ModelConfig::ModelConfig(const ModelConfig& model_cfg) :
00047   joint_cfgs_map_(model_cfg.joint_cfgs_map_)
00048 {}
00049 
00050 ModelConfig::ModelConfig(std::map<std::string, boost::shared_ptr<Joint> > joints_map)
00051 {
00052   std::map<std::string, boost::shared_ptr<Joint> >::iterator it;
00053   for(it = joints_map.begin(); it != joints_map.end(); ++it)
00054     joint_cfgs_map_[it->first] = JointConfig(it->second);
00055 }
00056 
00057 JointConfig ModelConfig::getJointConfigByJointName(const std::string& joint_name) const
00058 {
00059   std::map<std::string, JointConfig>::const_iterator it = joint_cfgs_map_.find(joint_name);
00060   BOOST_ASSERT_MSG((it != joint_cfgs_map_.end()), "Joint name not valid");
00061 
00062   return it->second;
00063 }
00064 
00065 JointConfig& ModelConfig::getJointConfigByJointName(const std::string& joint_name)
00066 {
00067   std::map<std::string, JointConfig>::iterator it = joint_cfgs_map_.find(joint_name);
00068   BOOST_ASSERT_MSG((it != joint_cfgs_map_.end()), "Joint name not valid");
00069 
00070   return it->second;
00071 }
00072 
00073 JointConfig ModelConfig::getJointConfigByJoint(boost::shared_ptr<Joint> joint) const
00074 {
00075   return getJointConfigByJointName(joint->getName());
00076 }
00077 
00078 JointConfig& ModelConfig::getJointConfigByJoint(boost::shared_ptr<Joint> joint)
00079 {
00080   return getJointConfigByJointName(joint->getName());
00081 }
00082 
00083 
00084 }
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fcl
Author(s): Jia Pan
autogenerated on Tue Jan 15 2013 16:05:30