GT2004: Representations/Perception/BodyPosture.cpp Source File

00001 /**
00002  * @file BodyPosture.cpp
00003  *
00004  * Implementation of class BodyPosture.
00005  */
00006 
00007 #include "BodyPosture.h"
00008 
00009 BodyPosture::BodyPosture():
00010 frameNumber(0),
00011 neckHeightCalculatedFromLegSensors(0),
00012 bodyRollCalculatedFromLegSensors(0),
00013 bodyTiltCalculatedFromLegSensors(0),
00014 neckHeightProvidedByMotionControl(0),
00015 bodyRollProvidedByMotionControl(0),
00016 bodyTiltProvidedByMotionControl(0),
00017 bodyRollCalculatedFromAccelerationSensors(0),
00018 bodyTiltCalculatedFromAccelerationSensors(0)
00019 {
00020 }
00021 
00022 BodyPosture::~BodyPosture()
00023 {
00024 }
00025 
00026 void BodyPosture::operator = (const BodyPosture& other)
00027 {
00028   frameNumber = other.frameNumber;
00029   neckHeightCalculatedFromLegSensors = other.neckHeightCalculatedFromLegSensors;
00030   bodyRollCalculatedFromLegSensors = other.bodyRollCalculatedFromLegSensors;
00031   bodyTiltCalculatedFromLegSensors = other.bodyTiltCalculatedFromLegSensors;
00032 
00033   neckHeightProvidedByMotionControl = other.neckHeightProvidedByMotionControl;
00034   bodyRollProvidedByMotionControl = other.bodyRollProvidedByMotionControl;
00035   bodyTiltProvidedByMotionControl = other.bodyTiltProvidedByMotionControl;
00036 
00037   bodyRollCalculatedFromAccelerationSensors = other.bodyRollCalculatedFromAccelerationSensors;
00038   bodyTiltCalculatedFromAccelerationSensors = other.bodyTiltCalculatedFromAccelerationSensors;
00039 }
00040 
00041 In& operator>>(In& stream,BodyPosture& BodyPosture)
00042 {
00043   stream.read(&BodyPosture,sizeof(BodyPosture));
00044   return stream;
00045 }
00046  
00047 Out& operator<<(Out& stream, const BodyPosture& BodyPosture)
00048 {
00049   stream.write(&BodyPosture,sizeof(BodyPosture));
00050   return stream;
00051 }
00052 
00053 
00054 /*
00055  * Change log :
00056  * 
00057  * $Log: BodyPosture.cpp,v $
00058  * Revision 1.4  2004/05/27 17:13:37  jhoffman
00059  * - renaming: tilt1 -> neckTilt,  pan -> headPan,  tilt2 -> headTilt
00060  * - clipping included for setJoints
00061  * - removed some microrad/rad-bugs
00062  * - bodyPosture constructor and "=" operator fixed
00063  *
00064  * Revision 1.3  2004/05/27 09:54:52  juengel
00065  * Fixed bug in operator=.
00066  *
00067  * Revision 1.2  2004/05/26 21:19:17  juengel
00068  * Added frameNumber to = operator.
00069  *
00070  * Revision 1.1  2004/05/26 15:18:58  juengel
00071  * Added BodyPosture.
00072  *
00073  */