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universaljoint_c.cpp

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00001 /* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
00002 
00003    this file is part of rcssserver3D
00004    Fri May 9 2003
00005    Copyright (C) 2002,2003 Koblenz University
00006    Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
00007    $Id: universaljoint_c.cpp,v 1.4 2006/01/08 10:08:55 jboedeck Exp $
00008 
00009    This program is free software; you can redistribute it and/or modify
00010    it under the terms of the GNU General Public License as published by
00011    the Free Software Foundation; version 2 of the License.
00012 
00013    This program is distributed in the hope that it will be useful,
00014    but WITHOUT ANY WARRANTY; without even the implied warranty of
00015    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00016    GNU General Public License for more details.
00017 
00018    You should have received a copy of the GNU General Public License
00019    along with this program; if not, write to the Free Software
00020    Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
00021 */
00022 #include "universaljoint.h"
00023 
00024 using namespace boost;
00025 using namespace oxygen;
00026 using namespace salt;
00027 
00028 
00029 FUNCTION(UniversalJoint,setAnchor)
00030 {
00031     Vector3f inAnchor;
00032 
00033     if (
00034         (in.GetSize() == 0) ||
00035         (! in.GetValue(in.begin(), inAnchor))
00036         )
00037         {
00038             return false;
00039         }
00040 
00041     obj->SetAnchor(inAnchor);
00042     return true;
00043 }
00044 
00045 FUNCTION(UniversalJoint,setAxis1)
00046 {
00047     Vector3f inAxis1;
00048 
00049     if (
00050         (in.GetSize() == 0) ||
00051         (! in.GetValue(in.begin(), inAxis1))
00052         )
00053         {
00054             return false;
00055         }
00056 
00057     obj->SetAxis1(inAxis1);
00058     return true;
00059 }
00060 
00061 FUNCTION(UniversalJoint,setAxis2)
00062 {
00063     Vector3f inAxis2;
00064 
00065     if (
00066         (in.GetSize() == 0) ||
00067         (! in.GetValue(in.begin(), inAxis2))
00068         )
00069         {
00070             return false;
00071         }
00072 
00073     obj->SetAxis2(inAxis2);
00074     return true;
00075 }
00076 
00077 FUNCTION(UniversalJoint,getAngle)
00078 {
00079     int inAxisIndex;
00080 
00081     if (
00082         (in.GetSize() != 0) ||
00083         (! in.GetValue(in.begin(), inAxisIndex))
00084         )
00085         {
00086             return false;
00087         }
00088 
00089     obj->GetAngle(static_cast<Joint::EAxisIndex>(inAxisIndex));
00090     return true;
00091 }
00092 
00093 FUNCTION(UniversalJoint,getAngleRate)
00094 {
00095     int inAxisIndex;
00096 
00097     if (
00098         (in.GetSize() != 0) ||
00099         (! in.GetValue(in.begin(), inAxisIndex))
00100          )
00101     {
00102         return false;
00103     }
00104 
00105     obj->GetAngleRate(static_cast<Joint::EAxisIndex>(inAxisIndex));
00106     return true;
00107 }
00108 
00109 void CLASS(UniversalJoint)::DefineClass()
00110 {
00111     DEFINE_BASECLASS(oxygen/Joint);
00112     DEFINE_FUNCTION(setAnchor);
00113     DEFINE_FUNCTION(setAxis1);
00114     DEFINE_FUNCTION(setAxis2);
00115     DEFINE_FUNCTION(getAngle);
00116     DEFINE_FUNCTION(getAngleRate);
00117 }

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