FixedObject.cpp

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/* $Id: FixedObject.cpp 35155 2011-02-25 11:45:16Z jesterking $
 * FixedObject.cpp
 *
 *  Created on: Feb 10, 2009
 *      Author: benoitbolsee
 */

#include "FixedObject.hpp"

namespace iTaSC{


FixedObject::FixedObject():UncontrolledObject(),
        m_finalized(false), m_nframe(0)
{
}

FixedObject::~FixedObject() 
{
        m_frameArray.clear();
}

int FixedObject::addFrame(const std::string& name, const Frame& frame)
{
        if (m_finalized)
                return -1;
        FrameList::iterator it;
        unsigned int i;
        for (i=0, it=m_frameArray.begin(); i<m_nframe; i++, it++) {
                if (it->first == name) {
                        // this frame will replace the old frame
                        it->second = frame;
                        return i;
                }
        }
        m_frameArray.push_back(FrameList::value_type(name,frame));
        return m_nframe++;
}

int FixedObject::addEndEffector(const std::string& name)
{
        // verify that this frame name exist
        FrameList::iterator it;
        unsigned int i;
        for (i=0, it=m_frameArray.begin(); i<m_nframe; i++, it++) {
                if (it->first == name) {
                        return i;
                }
        }
        return -1;
}

void FixedObject::finalize()
{
        if (m_finalized)
                return;
        initialize(0, m_nframe);
        m_finalized = true;
}

const Frame& FixedObject::getPose(const unsigned int frameIndex)
{
        if (frameIndex < m_nframe) {
                return m_frameArray[frameIndex].second;
        } else {
                return F_identity;
        }
}

}