path.cpp

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/***************************************************************************
  tag: Erwin Aertbelien  Mon May 10 19:10:36 CEST 2004  path.cxx
 
                        path.cxx -  description
                           -------------------
    begin                : Mon May 10 2004
    copyright            : (C) 2004 Erwin Aertbelien
    email                : erwin.aertbelien@mech.kuleuven.ac.be
 
 ***************************************************************************
 *   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., 59 Temple Place,                                    *
 *   Suite 330, Boston, MA  02111-1307  USA                                *
 *                                                                         *
 ***************************************************************************/
 
/*****************************************************************************
 *  \author
 *      Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven
 *
 *  \version
 *      ORO_Geometry V0.2
 *
 *  \par History
 *      - $log$
 *
 *  \par Release
 *      $Id: path.cpp,v 1.1.1.1.2.4 2003/07/18 14:49:50 psoetens Exp $
 *      $Name:  $
 ****************************************************************************/
 
 
#include "utilities/error.h"
#include "utilities/error_stack.h"
#include "utilities/scoped_ptr.hpp"
#include "path.hpp"
#include "path_line.hpp"
#include "path_point.hpp"
#include "path_circle.hpp"
#include "path_composite.hpp"
#include "path_roundedcomposite.hpp"
#include "path_cyclic_closed.hpp"
#include <memory>
#include <string.h>
 
namespace KDL {
 
 
Path* Path::Read(std::istream& is) {
    // auto_ptr because exception can be thrown !
    IOTrace("Path::Read");
    char storage[64];
    EatWord(is,"[",storage,sizeof(storage));
    Eat(is,'[');
    if (strcmp(storage,"POINT")==0) {
        IOTrace("POINT");
        Frame startpos;
        is >> startpos;
        EatEnd(is,']');
        IOTracePop();
        IOTracePop();
        return new Path_Point(startpos);
    } else  if (strcmp(storage,"LINE")==0) {
        IOTrace("LINE");
        Frame startpos;
        Frame endpos;
        is >> startpos;
        is >> endpos;
        scoped_ptr<RotationalInterpolation> orient( RotationalInterpolation::Read(is) );
        double eqradius;
        is >> eqradius;
        EatEnd(is,']');
        IOTracePop();
        IOTracePop();
        return new Path_Line(startpos,endpos,orient.release(),eqradius);
    } else if (strcmp(storage,"CIRCLE")==0) {
        IOTrace("CIRCLE");
        Frame F_base_start;
        Vector V_base_center;
        Vector V_base_p;
        Rotation R_base_end;
        double alpha;
        double eqradius;
        is >> F_base_start;
        is >> V_base_center;
        is >> V_base_p;
        is >> R_base_end;
        is >> alpha;
        alpha *= deg2rad;
        scoped_ptr<RotationalInterpolation> orient( RotationalInterpolation::Read(is) );
        is >> eqradius;
        EatEnd(is,']');
        IOTracePop();
        IOTracePop();
        return new Path_Circle(
                        F_base_start,
                        V_base_center,
                        V_base_p,
                        R_base_end,
                        alpha,
                        orient.release() ,
                        eqradius
                    );
    } else if (strcmp(storage,"ROUNDEDCOMPOSITE")==0) {
        IOTrace("ROUNDEDCOMPOSITE");
        double radius;
        is >> radius;
        double eqradius;
        is >> eqradius;
        scoped_ptr<RotationalInterpolation> orient( RotationalInterpolation::Read(is) );
        scoped_ptr<Path_RoundedComposite> tr(
            new Path_RoundedComposite(radius,eqradius,orient.release())
        );
        int size;
        is >> size;
        int i;
        for (i=0;i<size;i++) {
            Frame f;
            is >> f;
            tr->Add(f);
        }
        tr->Finish();
        EatEnd(is,']');
        IOTracePop();
        IOTracePop();
        return tr.release();
    } else if (strcmp(storage,"COMPOSITE")==0) {
        IOTrace("COMPOSITE");
        int size;
        scoped_ptr<Path_Composite> tr( new Path_Composite() );
        is >> size;
        int i;
        for (i=0;i<size;i++) {
            tr->Add(Path::Read(is));
        }
        EatEnd(is,']');
        IOTracePop();
        IOTracePop();
        return tr.release();
    } else if (strcmp(storage,"CYCLIC_CLOSED")==0) {
        IOTrace("CYCLIC_CLOSED");
        int times;
        scoped_ptr<Path> tr( Path::Read(is) );
        is >> times;
        EatEnd(is,']');
        IOTracePop();
        IOTracePop();
        return new Path_Cyclic_Closed(tr.release(),times);
    } else {
        throw Error_MotionIO_Unexpected_Traj();
    }
    return NULL; // just to avoid the warning;
}
 
}