Transition.cpp

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#include "Transition.h"
 
using namespace armarx;
 
double
Transition::getUserDuration() const
{
    return userDuration;
}
 
void
Transition::setUserDuration(double value)
{
    if (value >= 0)
    {
        if (value < timeOptimalDuration)
        {
            throw InvalidArgumentException(
                "User duration must be greater than or equal timeOptimalDuration");
        }
        else
        {
            userDuration = value;
            getEnd()->setUserTimestamp(getStart()->getUserTimestamp() + userDuration);
        }
    }
    else
    {
        throw InvalidArgumentException("User duration must be greater than or equal 0");
    }
}
 
double
Transition::getTimeOptimalDuration() const
{
    return timeOptimalDuration;
}
 
void
Transition::setTimeOptimalDuration(double value)
{
    if (value >= 0)
    {
        timeOptimalDuration = value;
        getEnd()->setTimeOptimalTimestamp(getStart()->getTimeOptimalTimestamp() +
                                          timeOptimalDuration);
        if (userDuration == 0 || userDuration < timeOptimalDuration)
        {
            setUserDuration(timeOptimalDuration);
        }
    }
    else
    {
        throw InvalidArgumentException("TimeOptimal duration must be greater than or equal 0");
    }
}
 
InterpolationType
Transition::getInterpolationType() const
{
    return interpolationType;
}
 
void
Transition::setInterpolationType(const InterpolationType& value)
{
    interpolationType = value;
}
 
TrajectoryPtr
Transition::getTrajectory()
{
    return trajectory;
}
 
void
Transition::setTrajectory(const TrajectoryPtr& value)
{
    trajectory = value;
}
 
UserWaypointPtr
Transition::getStart()
{
    return start;
}
 
void
Transition::setStart(const UserWaypointPtr& value)
{
    if (value != nullptr)
    {
        start = value;
    }
    else
    {
        throw InvalidArgumentException("Can not setStart with nullptr");
    }
}
 
UserWaypointPtr
Transition::getEnd()
{
    return end;
}
 
void
Transition::setEnd(const UserWaypointPtr& value)
{
    if (value != nullptr)
    {
        end = value;
    }
    else
    {
        throw InvalidArgumentException("Can not setEnd with nullptr");
    }
}
 
armarx::Transition::Transition(UserWaypointPtr& newStart, UserWaypointPtr& newEnd) :
    interpolationType(eLinearInterpolation)
{
    if (newStart != nullptr)
    {
        start = newStart;
    }
    else
    {
        throw InvalidArgumentException("Can not construct Transition with newStart = nullptr");
    }
    if (newEnd != nullptr)
    {
        end = newEnd;
    }
    else
    {
        throw InvalidArgumentException("Can not construct Transition with newEnd = nullptr");
    }
    timeOptimalDuration = 0;
    userDuration = 0;
}
 
Transition::Transition(const Transition& source,
                       const UserWaypointPtr newStart,
                       const UserWaypointPtr newEnd) :
    start(newStart),
    end(newEnd),
    timeOptimalDuration(source.timeOptimalDuration),
    userDuration(source.userDuration),
    interpolationType(source.interpolationType),
    trajectory(IceInternal::Handle<Trajectory>(new Trajectory(*source.trajectory)))
{
}