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)
: Streamable(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;
}
*/

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