chain.cpp

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// Copyright  (C)  2007  Ruben Smits <ruben dot smits at intermodalics dot eu>
 
// Version: 1.0
// Author: Ruben Smits <ruben dot smits at intermodalics dot eu>
// Maintainer: Ruben Smits <ruben dot smits at intermodalics dot eu>
// URL: http://www.orocos.org/kdl
 
// 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., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
 
#include "chain.hpp"
 
namespace KDL {
 
    Chain::Chain():
            nrOfJoints(0),
            nrOfSegments(0),
            segments(0)
    {
    }
 
    Chain::Chain(const Chain& in):
            nrOfJoints(0),
            nrOfSegments(0),
            segments(0)
    {
        for(unsigned int i=0;i<in.getNrOfSegments();i++)
            this->addSegment(in.getSegment(i));
    }
 
    Chain& Chain::operator=(const Chain& arg)
    {
        nrOfJoints=0;
        nrOfSegments=0;
        segments.resize(0);
        for(unsigned int i=0;i<arg.nrOfSegments;i++)
            addSegment(arg.getSegment(i));
        return *this;
 
    }
 
    void Chain::addSegment(const Segment& segment)
    {
        segments.push_back(segment);
        nrOfSegments++;
        if(segment.getJoint().getType()!=Joint::Fixed)
            nrOfJoints++;
    }
 
    void Chain::addChain(const Chain& chain)
    {
        for(unsigned int i=0;i<chain.getNrOfSegments();i++)
            this->addSegment(chain.getSegment(i));
    }
 
    const Segment& Chain::getSegment(unsigned int nr)const
    {
        return segments[nr];
    }
 
    Segment& Chain::getSegment(unsigned int nr)
    {
        return segments[nr];
    }
 
    Chain::~Chain()
    {
    }
 
}