FixedObject.cpp

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/*
 * 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;
    }
}

}