basic/kinematics/Configuration.cpp

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#include <assert.h>
#include "Configuration.h"
#include "opengl/glos.h"
#include <iostream>

#ifndef NOGL
#include <gl/gl.h>
#endif
//## begin module%36FB16A7000A.additionalDeclarations preserve=yes

using std::ostream ;
using std::istream ;

//## end module%36FB16A7000A.additionalDeclarations


// Class Configuration 





Configuration::Configuration (const VectorN& right)
  //## begin Configuration::Configuration%922595701.hasinit preserve=no
  //## end Configuration::Configuration%922595701.hasinit
  //## begin Configuration::Configuration%922595701.initialization preserve=yes
  :
        VectorN( right )
  //## end Configuration::Configuration%922595701.initialization
{
  //## begin Configuration::Configuration%922595701.body preserve=yes
  //## end Configuration::Configuration%922595701.body
}

Configuration::Configuration ()
  //## begin Configuration::Configuration%922595705.hasinit preserve=no
  //## end Configuration::Configuration%922595705.hasinit
  //## begin Configuration::Configuration%922595705.initialization preserve=yes
  //## end Configuration::Configuration%922595705.initialization
{
  //## begin Configuration::Configuration%922595705.body preserve=yes
  //## end Configuration::Configuration%922595705.body
}


Configuration::~Configuration()
{
  //## begin Configuration::~Configuration%.body preserve=yes
  //## end Configuration::~Configuration%.body
}



//## Other Operations (implementation)
void Configuration::SetNumDOF (const int dof)
{
  //## begin Configuration::SetNumDOF%922569945.body preserve=yes
        SetLength( dof ) ;
  //## end Configuration::SetNumDOF%922569945.body
}

bool Configuration::SetJointVar (const unsigned int jointNum, const double jointVal)
{
  //## begin Configuration::SetJointVar%922569946.body preserve=yes
    unsigned int size = Size();
        if( jointNum >= size )
        {
                return false ;
        }
    operator[]( jointNum ) = jointVal;
        return true ;
  //## end Configuration::SetJointVar%922569946.body
}

const unsigned int Configuration::DOF () const
{
  //## begin Configuration::DOF%923255751.body preserve=yes
        return Length() ;
  //## end Configuration::DOF%923255751.body
}

double Configuration::GetJointVar (const unsigned int jointNum) const
{
  //## begin Configuration::GetJointVar%923255752.body preserve=yes
        assert( jointNum < DOF() ) ;
        return this->operator[]( jointNum ) ; 
  //## end Configuration::GetJointVar%923255752.body
}

//=============================================================================
// GlDraw()
//
// Description: sends the vertex off to opengl
//=============================================================================
void Configuration::GlDraw() const
{
#ifndef NOGL
        double x = 0;
        double y = 0; 
        double z = 0;
    unsigned int elementSize = Size();
        int size = elementSize;
        if( size > 0 )
        {
                x = operator[]( 0 );
                if( size > 1 )
                {
                        y = operator[]( 1 );
                        if( size > 2 )
                        {
                                z = operator[]( 2 );
                        }
                }
        }
        glVertex3d( x, y, z );
#endif
}


Configuration& Configuration::operator = (const Configuration& right)
{
  //## begin Configuration::operator=%923255754.body preserve=yes
        if( this == &right )
        {
                return *this ;
        }
        VectorN::operator=( right ) ;   //call the parent's assignment operator
        return *this;
  //## end Configuration::operator=%923255754.body
}

bool Configuration::operator < (const VectorN& right) const
{
  //## begin Configuration::operator<%945198435.body preserve=yes
        assert( false ) ;
        return false ;
  //## end Configuration::operator<%945198435.body
}

// Additional Declarations
  //## begin Configuration%36FB16A7000A.declarations preserve=yes
  //## end Configuration%36FB16A7000A.declarations

//## begin module%36FB16A7000A.epilog preserve=yes
//-----------------------------------------------------------------------------
ostream & operator<<(ostream &os, const Configuration& v)
{
        os << VectorN( v ) ;
        return os ;
}
//-----------------------------------------------------------------------------
istream & operator>>(istream &is, Configuration& v)
{
        VectorN readIn ;
        is >> readIn ;
        v = Configuration( readIn );
        return is ;
}
//## end module%36FB16A7000A.epilog

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