Representations/Motion/JointData.cpp

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/**
* @file JointData.cpp
*
* Implementation of class JointData
* 
* @author Martin Lötzsch
* @author Max Risler
*/

#include "JointData.h"
#include <string.h>

JointData::JointData(
    long neckTiltValue,
    long headPanValue,
    long headTiltValue,
    long mouthValue,
    long earLValue, 
    long earRValue,
    long legFR1Value,
    long legFR2Value,
    long legFR3Value,
    long legFL1Value,
    long legFL2Value,
    long legFL3Value,
    long legHR1Value,
    long legHR2Value,
    long legHR3Value,
    long legHL1Value,
    long legHL2Value,
    long legHL3Value,
    long tailPanValue,
    long tailTiltValue
  )
{
  data[neckTilt] = neckTiltValue;
  data[headPan] = headPanValue;
  data[headTilt] = headTiltValue;
  data[mouth] = mouthValue;
  data[earL] = earLValue; 
  data[earR] = earRValue;
  data[legFR1] = legFR1Value;
  data[legFR2] = legFR2Value;
  data[legFR3] = legFR3Value;
  data[legFL1] = legFL1Value;
  data[legFL2] = legFL2Value;
  data[legFL3] = legFL3Value;
  data[legHR1] = legHR1Value;
  data[legHR2] = legHR2Value;
  data[legHR3] = legHR3Value;
  data[legHL1] = legHL1Value;
  data[legHL2] = legHL2Value;
  data[legHL3] = legHL3Value;
  data[tailPan] = tailPanValue;
  data[tailTilt] = tailTiltValue;
}

JointData& JointData::operator=(const JointData& other)
{
  for (int i = 0; i < numOfJoint; i++)
    data[i] = other.data[i];
  return *this;
}

JointData::JointData(const JointData& other)
{
  *this = other;
}

JointData::JointID JointData::getIDFromName(const char* jointName)
{
  if(strcmp(jointName, "headTilt210") == 0 || strcmp(jointName, "neckTilt") == 0)
    return neckTilt;
  else if(strcmp(jointName, "headRoll210") == 0 || strcmp(jointName, "headTilt") == 0)
    return headTilt;
  else
  {
    for (int i=0;i<JointData::numOfJoint;i++)
      if (strcmp(jointName,getJointName((JointID)i))==0)
        return (JointID)i;
    return numOfJoint;
  }
}

In& operator>>(In& stream,JointData& jointData)
{
  stream.read(jointData.data,sizeof(jointData.data));
  return stream;
}
 
Out& operator<<(Out& stream, const JointData& jointData)
{
  stream.write(jointData.data,sizeof(jointData.data));
  return stream;
}

/*
 * Change log :
 * 
 * $Log: JointData.cpp,v $
 * Revision 1.2  2004/05/27 17:13:37  jhoffman
 * - renaming: tilt1 -> neckTilt,  pan -> headPan,  tilt2 -> headTilt
 * - clipping included for setJoints
 * - removed some microrad/rad-bugs
 * - bodyPosture constructor and "=" operator fixed
 *
 * Revision 1.1.1.1  2004/05/22 17:25:17  cvsadm
 * created new repository GT2004_WM
 *
 * Revision 1.4  2004/02/02 13:01:08  dueffert
 * GreenHills compatibility restored
 *
 * Revision 1.3  2003/12/31 16:58:44  roefer
 * Joints and LEDs for ERS-7
 *
 * Revision 1.2  2003/12/16 18:52:55  loetzsch
 * added a function for retrieving the id for as string.
 *
 * Revision 1.1  2003/10/07 10:07:01  cvsadm
 * Created GT2004 (M.J.)
 *
 * Revision 1.1.1.1  2003/07/02 09:40:22  cvsadm
 * created new repository for the competitions in Padova from the 
 * tamara CVS (Tuesday 2:00 pm)
 *
 * removed unused solutions
 *
 * Revision 1.1  2002/09/10 15:26:40  cvsadm
 * Created new project GT2003 (M.L.)
 * - Cleaned up the /Src/DataTypes directory
 * - Removed Challenge Code
 * - Removed processing of incoming audio data
 * - Renamed AcousticMessage to SoundRequest
 *
 * Revision 1.1.1.1  2002/05/10 12:40:13  cvsadm
 * Moved GT2002 Project from ute to tamara.
 *
 * Revision 1.4  2002/02/21 18:02:13  risler
 * now thats a constructor
 *
 * Revision 1.3  2001/12/10 17:47:05  risler
 * change log added
 *
 */

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