Representations/Motion/MotionRequest.cpp

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

#include "MotionRequest.h"
#include <stdio.h>
#include <string.h>

void MotionRequest::printOut(char* destination) const
{
  sprintf(destination,"%s",getMotionName());

  switch (motionType)
  {
  case walk:
    sprintf(destination,"%s : %s,%.1f %.1f %.1f",
      getMotionName(),
      getWalkTypeName(),
      walkRequest.walkParams.translation.x,walkRequest.walkParams.translation.y,walkRequest.walkParams.rotation);
    break;
  case specialAction:
    sprintf(destination,"%s : %s",
      getMotionName(),
      getSpecialActionName());
    break;
  default:
    sprintf(destination,"%s", getMotionName());
    break;
  }
}

void MotionRequest::operator = (const MotionRequest& other)
{
  memcpy(this,&other,sizeof(MotionRequest));
}

SpecialActionRequest::SpecialActionID SpecialActionRequest::getSpecialActionIDFromName(const char* name)
{
  for (int i=0;i<SpecialActionRequest::numOfSpecialAction;i++)
  {
    if (strcmp(name, (SpecialActionRequest::getSpecialActionIDName((SpecialActionRequest::SpecialActionID)i)))==0)
    {
      return (SpecialActionRequest::SpecialActionID)i;
    }
  }

  return SpecialActionRequest::numOfSpecialAction;   
}

/*
In& operator>>(In& stream,MotionRequest& motionRequest)
{
  //stream.read(&motionRequest,sizeof(MotionRequest));
  STREAM_REGISTER_BEGIN_EXT( motionRequest);
  STREAM_EXT( stream, motionRequest.frameNumber);
  STREAM_ENUM_EXT( stream, motionRequest.motionType, motionRequest.numOfMotion, MotionRequest::getMotionName);
  STREAM_ENUM_EXT( stream, motionRequest.walkRequest.walkType, motionRequest.walkRequest.numOfWalkType, WalkRequest::getWalkTypeName);
  STREAM_EXT( stream, motionRequest.walkRequest.walkParams);
  
  STREAM_ENUM_EXT( stream, motionRequest.specialActionRequest.specialActionType, motionRequest.specialActionRequest.numOfSpecialAction, SpecialActionRequest::getSpecialActionIDName);
  STREAM_ENUM_EXT( stream, motionRequest.tailRequest.tailRequestID, motionRequest.tailRequest.numOfTailRequests, TailRequest::getTailRequestIDName);
  STREAM_EXT( stream, motionRequest.stabilize);
  STREAM_EXT( stream, motionRequest.padding);
  STREAM_REGISTER_FINISH();
  return stream;
}
 
Out& operator<<(Out& stream, const MotionRequest& motionRequest)
{
  // stream.write(&motionRequest,sizeof(MotionRequest));
  STREAM_REGISTER_BEGIN_EXT( motionRequest);
  STREAM_EXT( stream, motionRequest.frameNumber);
  STREAM_ENUM_EXT( stream, motionRequest.motionType, motionRequest.numOfMotion, MotionRequest::getMotionName);
  STREAM_ENUM_EXT( stream, motionRequest.walkRequest.walkType, motionRequest.walkRequest.numOfWalkType, WalkRequest::getWalkTypeName);
  STREAM_EXT( stream, motionRequest.walkRequest.walkParams);
  
  STREAM_ENUM_EXT( stream, motionRequest.specialActionRequest.specialActionType, motionRequest.specialActionRequest.numOfSpecialAction, SpecialActionRequest::getSpecialActionIDName);
  STREAM_ENUM_EXT( stream, motionRequest.tailRequest.tailRequestID, motionRequest.tailRequest.numOfTailRequests, TailRequest::getTailRequestIDName);
  STREAM_EXT( stream, motionRequest.stabilize);
  STREAM_EXT( stream, motionRequest.padding);
  STREAM_REGISTER_FINISH();
  return stream;
}
*/

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