orocos_kdl
src
rotational_interpolation.cpp
Go to the documentation of this file.
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/***************************************************************************
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tag: Erwin Aertbelien Mon May 10 19:10:36 CEST 2004 rotational_interpolation.cxx
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rotational_interpolation.cxx - description
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-------------------
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begin : Mon May 10 2004
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copyright : (C) 2004 Erwin Aertbelien
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email : erwin.aertbelien@mech.kuleuven.ac.be
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***************************************************************************
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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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* *
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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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* *
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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., 59 Temple Place, *
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* Suite 330, Boston, MA 02111-1307 USA *
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* *
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***************************************************************************/
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/*****************************************************************************
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* \author
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* Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven
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*
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* \version
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* ORO_Geometry V0.2
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*
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* \par History
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* - $log$
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*
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* \par Release
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* $Id: rotational_interpolation.cpp,v 1.1.1.1.2.3 2003/02/24 13:13:06 psoetens Exp $
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* $Name: $
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****************************************************************************/
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#include "
utilities/error.h
"
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#include "
utilities/error_stack.h
"
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#include "
rotational_interpolation.hpp
"
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#include "
rotational_interpolation_sa.hpp
"
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#include <
memory
>
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#include <
cstring
>
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namespace
KDL
{
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RotationalInterpolation*
RotationalInterpolation::Read
(
std::istream
& is) {
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IOTrace
(
"RotationalInterpolation::Read"
);
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char
storage[64];
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EatWord
(is,
"["
,storage,
sizeof
(storage));
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Eat
(is,
'['
);
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if
(
strcmp
(storage,
"SINGLEAXIS"
)==0) {
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IOTrace
(
"SINGLEAXIS"
);
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EatEnd
(is,
']'
);
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IOTracePop
();
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IOTracePop
();
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return
new
RotationalInterpolation_SingleAxis();
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}
else
if
(
strcmp
(storage,
"THREEAXIS"
)==0) {
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IOTrace
(
"THREEAXIS"
);
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throw
Error_Not_Implemented();
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EatEnd
(is,
']'
);
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IOTracePop
();
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IOTracePop
();
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return
NULL;
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}
else
if
(
strcmp
(storage,
"TWOAXIS"
)==0) {
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IOTrace
(
"TWOAXIS"
);
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throw
Error_Not_Implemented();
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EatEnd
(is,
']'
);
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IOTracePop
();
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IOTracePop
();
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return
NULL;
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}
else
{
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throw
Error_MotionIO_Unexpected_Traj();
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}
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return
NULL;
// just to avoid the warning;
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}
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}
std::strcmp
T strcmp(T... args)
cstring
KDL
Definition:
kukaLWR_DHnew.cpp:25
KDL::IOTrace
void IOTrace(const std::string &description)
Definition:
error_stack.cxx:46
error.h
KDL::EatEnd
void EatEnd(std::istream &is, int delim)
Definition:
utility_io.cxx:137
memory
KDL::IOTracePop
void IOTracePop()
pops a description of the IO-stack
Definition:
error_stack.cxx:51
KDL::EatWord
void EatWord(std::istream &is, const char *delim, char *storage, int maxsize)
Definition:
utility_io.cxx:197
rotational_interpolation_sa.hpp
KDL::RotationalInterpolation::Read
static RotationalInterpolation * Read(std::istream &is)
Definition:
rotational_interpolation.cpp:89
error_stack.h
KDL::Eat
void Eat(std::istream &is, int delim)
Definition:
utility_io.cxx:123
rotational_interpolation.hpp
std::istream
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