| Directory: | ./ |
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| File: | src/tools.cc |
| Date: | 2024-09-11 11:37:19 |
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| Lines: | 4 | 4 | 100.0% |
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| 1 | // Copyright (C) 2009, 2010 by Florent Lamiraux, Thomas Moulard, JRL. | ||
| 2 | // | ||
| 3 | |||
| 4 | // Redistribution and use in source and binary forms, with or without | ||
| 5 | // modification, are permitted provided that the following conditions are | ||
| 6 | // met: | ||
| 7 | // | ||
| 8 | // 1. Redistributions of source code must retain the above copyright | ||
| 9 | // notice, this list of conditions and the following disclaimer. | ||
| 10 | // | ||
| 11 | // 2. Redistributions in binary form must reproduce the above copyright | ||
| 12 | // notice, this list of conditions and the following disclaimer in the | ||
| 13 | // documentation and/or other materials provided with the distribution. | ||
| 14 | // | ||
| 15 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| 16 | // "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| 17 | // LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR | ||
| 18 | // A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT | ||
| 19 | // HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, | ||
| 20 | // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT | ||
| 21 | // LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, | ||
| 22 | // DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY | ||
| 23 | // THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT | ||
| 24 | // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE | ||
| 25 | // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH | ||
| 26 | // DAMAGE. | ||
| 27 | // | ||
| 28 | // This software is provided "as is" without warranty of any kind, | ||
| 29 | // either expressed or implied, including but not limited to the | ||
| 30 | // implied warranties of fitness for a particular purpose. | ||
| 31 | // | ||
| 32 | // See the COPYING file for more information. | ||
| 33 | |||
| 34 | #include "tools.hh" | ||
| 35 | |||
| 36 | #include <pinocchio/spatial/se3.hpp> | ||
| 37 | |||
| 38 | 71 | hpp::corbaServer::DevicePtr_t getRobotOrThrow(hpp::core::ProblemSolverPtr_t p) { | |
| 39 | 71 | hpp::corbaServer::DevicePtr_t robot = p->robot(); | |
| 40 |
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71 | if (!robot) throw hpp::Error("No robot in problem solver."); |
| 41 | 71 | return robot; | |
| 42 | } | ||
| 43 |