MoveJointsViaWaypoints.cpp

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/*
 * This file is part of ArmarX.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @package    RobotSkillTemplates::MotionControlGroup
 * @author     Raphael Grimm ( raphael dot grimm at kit dot edu )
 * @date       2018
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#include "MoveJointsViaWaypoints.h"
 
//#include <ArmarXCore/core/time/TimeUtil.h>
//#include <ArmarXCore/observers/variant/DatafieldRef.h>
 
using namespace armarx;
using namespace MotionControlGroup;
 
// DO NOT EDIT NEXT LINE
MoveJointsViaWaypoints::SubClassRegistry
    MoveJointsViaWaypoints::Registry(MoveJointsViaWaypoints::GetName(),
                                     &MoveJointsViaWaypoints::CreateInstance);
 
void
MoveJointsViaWaypoints::onEnter()
{
    local.setIndex(in.getStartIndex());
    if (!in.isStopIndexSet())
    {
        in.setStopIndex(in.getJointValueWaypoints().size());
    }
}
 
// DO NOT EDIT NEXT FUNCTION
XMLStateFactoryBasePtr
MoveJointsViaWaypoints::CreateInstance(XMLStateConstructorParams stateData)
{
    return XMLStateFactoryBasePtr(new MoveJointsViaWaypoints(stateData));
}