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// Copyright (c) 2014, LAAS-CNRS |
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// Authors: Steve Tonneau (steve.tonneau@laas.fr) |
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// |
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// This file is part of hpp-rbprm. |
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// hpp-rbprm is free software: you can redistribute it |
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// and/or modify it under the terms of the GNU Lesser General Public |
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// License as published by the Free Software Foundation, either version |
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// 3 of the License, or (at your option) any later version. |
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// |
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// hpp-rbprm is distributed in the hope that it will be |
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// useful, but WITHOUT ANY WARRANTY; without even the implied warranty |
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// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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// General Lesser Public License for more details. You should have |
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// received a copy of the GNU Lesser General Public License along with |
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// hpp-rbprm. If not, see <http://www.gnu.org/licenses/>. |
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#include <hpp/rbprm/rbprm-device.hh> |
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namespace hpp { |
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namespace pinocchio { |
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RbPrmDevicePtr_t RbPrmDevice::create(const std::string& name, |
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DevicePtr_t& robotRom) { |
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hpp::pinocchio::T_Rom roms; |
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roms.insert(std::make_pair(robotRom->name(), robotRom)); |
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RbPrmDevice* rbprmDevice = new RbPrmDevice(name, roms); |
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RbPrmDevicePtr_t res(rbprmDevice); |
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res->init(res); |
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return res; |
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} |
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RbPrmDevicePtr_t RbPrmDevice::create(const std::string& name, |
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const hpp::pinocchio::T_Rom& robotRoms) { |
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✓✗ |
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RbPrmDevice* rbprmDevice = new RbPrmDevice(name, robotRoms); |
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RbPrmDevicePtr_t res(rbprmDevice); |
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✓✗ |
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res->init(res); |
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return res; |
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} |
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RbPrmDevice::~RbPrmDevice() { |
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// NOTHING |
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} |
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// ======================================================================== |
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void RbPrmDevice::init(const RbPrmDeviceWkPtr_t& weakPtr) { |
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✓✗ |
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Device::init(weakPtr); |
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weakPtr_ = weakPtr; |
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} |
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bool RbPrmDevice::currentConfiguration(ConfigurationIn_t configuration) { |
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for (hpp::pinocchio::T_Rom::const_iterator cit = robotRoms_.begin(); |
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cit != robotRoms_.end(); ++cit) { |
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cit->second->currentConfiguration(configuration); |
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} |
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return Device::currentConfiguration(configuration); |
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} |
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void RbPrmDevice::setDimensionExtraConfigSpace(const size_type& dimension) { |
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Device::setDimensionExtraConfigSpace(dimension); // call inherited method |
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// call method for each robotRoms : |
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for (hpp::pinocchio::T_Rom::const_iterator cit = robotRoms_.begin(); |
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✓✓ |
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cit != robotRoms_.end(); ++cit) { |
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✓✗ |
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cit->second->setDimensionExtraConfigSpace(dimension); |
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} |
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} |
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43479 |
vector3_t RbPrmDevice::getEffectorReference(std::string romName) { |
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std::map<std::string, vector3_t>::iterator it = |
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✓✗ |
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effectorsReferences_.find(romName); |
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✗✓ |
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if (it == effectorsReferences_.end()) |
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return vector3_t(); |
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else |
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✓✗ |
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return it->second; |
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} |
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void RbPrmDevice::setEffectorReference(std::string romName, vector3_t ref) { |
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std::map<std::string, vector3_t>::iterator it = |
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✓✗ |
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effectorsReferences_.find(romName); |
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✓✗ |
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if (it == effectorsReferences_.end()) |
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✓✗✓✗
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effectorsReferences_.insert(std::make_pair(romName, ref)); |
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else |
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it->second = ref; |
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} |
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RbPrmDevice::RbPrmDevice(const std::string& name, |
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const hpp::pinocchio::T_Rom& robotRoms) |
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✓✗ |
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: Device(name), robotRoms_(robotRoms), effectorsReferences_(), weakPtr_() { |
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// NOTHING |
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} |
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} // namespace pinocchio |
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} // namespace hpp |