f6fd3a84c2
- Nest compositor pages under the compositor module - Nest GUI, DNA/RNA & externformats modules under Blender. - Remove modules from intern which no longer exist. - Add intern modules (atomic, eigen, glew-mx, libc_compat, locale, numaapi, rigidbody, sky, utfconv). - Use 'intern_' prefix for intern modules since some of the modules use generic terms such as locale & atomic.
79 lines
2.1 KiB
C++
79 lines
2.1 KiB
C++
/** \file itasc/kdl/chain.cpp
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* \ingroup intern_itasc
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*/
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// Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
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// Version: 1.0
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// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
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// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
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// URL: http://www.orocos.org/kdl
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// This library is free software; you can redistribute it and/or
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// modify it under the terms of the GNU Lesser General Public
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// License as published by the Free Software Foundation; either
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// version 2.1 of the License, or (at your option) any later version.
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// This library is distributed in the hope that it will be useful,
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// but WITHOUT ANY WARRANTY; without even the implied warranty of
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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// Lesser General Public License for more details.
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// You should have received a copy of the GNU Lesser General Public
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// License along with this library; if not, write to the Free Software
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// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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#include "chain.hpp"
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namespace KDL {
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using namespace std;
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Chain::Chain():
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segments(0),
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nrOfJoints(0),
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nrOfSegments(0)
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{
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}
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Chain::Chain(const Chain& in):nrOfJoints(0),
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nrOfSegments(0)
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{
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for(unsigned int i=0;i<in.getNrOfSegments();i++)
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this->addSegment(in.getSegment(i));
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}
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Chain& Chain::operator=(const Chain& arg)
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{
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nrOfJoints=0;
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nrOfSegments=0;
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segments.resize(0);
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for(unsigned int i=0;i<arg.nrOfSegments;i++)
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addSegment(arg.getSegment(i));
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return *this;
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}
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void Chain::addSegment(const Segment& segment)
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{
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segments.push_back(segment);
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nrOfSegments++;
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nrOfJoints += segment.getJoint().getNDof();
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}
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void Chain::addChain(const Chain& chain)
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{
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for(unsigned int i=0;i<chain.getNrOfSegments();i++)
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this->addSegment(chain.getSegment(i));
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}
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const Segment& Chain::getSegment(unsigned int nr) const
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{
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return segments[nr];
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}
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Chain::~Chain()
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{
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}
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}
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