UserWaypoint.cpp

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#include "UserWaypoint.h"
 
using namespace armarx;
 
std::vector<double>
UserWaypoint::getJointAngles() const
{
    return jointAngles;
}
 
void
UserWaypoint::setJointAngles(const std::vector<double>& value)
{
    if (value.size() != 0)
    {
        jointAngles = value;
    }
    else
    {
        throw InvalidArgumentException("Can not setJointAngles with empty vector");
    }
}
 
IKSelection
UserWaypoint::getIKSelection() const
{
    return iKSelection;
}
 
void
UserWaypoint::setIKSelection(const IKSelection& value)
{
    iKSelection = value;
}
 
bool
UserWaypoint::getIsTimeOptimalBreakpoint() const
{
    return isTimeOptimalBreakpoint;
}
 
void
UserWaypoint::setIsTimeOptimalBreakpoint(bool value)
{
    isTimeOptimalBreakpoint = value;
}
 
double
UserWaypoint::getTimeOptimalTimestamp() const
{
    return timeOptimalTimestamp;
}
 
void
UserWaypoint::setTimeOptimalTimestamp(double value)
{
    if (value >= 0)
    {
        timeOptimalTimestamp = value;
        if (timeOptimalTimestamp > userTimestamp)
        {
            userTimestamp = timeOptimalTimestamp;
        }
    }
    else
    {
        throw InvalidArgumentException("TimeOptimal timestamp must be greater than or equal 0");
    }
}
 
double
UserWaypoint::getUserTimestamp() const
{
    return userTimestamp;
}
 
void
UserWaypoint::setUserTimestamp(double value)
{
    if (value >= timeOptimalTimestamp)
    {
        userTimestamp = value;
    }
    else
    {
        throw InvalidArgumentException(
            "User timestamp must be greater than or equal timeOptimal timestamp");
    }
}
 
PoseBasePtr
UserWaypoint::getPose()
{
    return pose;
}
 
void
UserWaypoint::setPose(const PoseBasePtr& value)
{
    pose = value;
}
 
UserWaypoint::UserWaypoint(PoseBasePtr newPose) :
    iKSelection(VirtualRobot::IKSolver::CartesianSelection::All),
    isTimeOptimalBreakpoint(false),
    timeOptimalTimestamp(0),
    userTimestamp(0)
{
    pose = newPose;
}
 
UserWaypoint::UserWaypoint(const UserWaypoint& source) :
    pose(IceInternal::Handle<PoseBase>(new Pose(*PosePtr::dynamicCast(source.pose)))),
    jointAngles(source.jointAngles),
    iKSelection(source.iKSelection),
    isTimeOptimalBreakpoint(source.isTimeOptimalBreakpoint),
    timeOptimalTimestamp(source.timeOptimalTimestamp),
    userTimestamp(source.userTimestamp)
{
}