MotionModelRestoreFusion.cpp

Go to the documentation of this file.

/*
 * This file is part of ArmarX.
 *
 * Copyright (C) 2011-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
 *
 * 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
 * @author
 * @date
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
#include "MotionModelRestoreFusion.h"
 
#include <MemoryX/libraries/motionmodels/AbstractMotionModel.h>
 
namespace memoryx
{
 
    MotionModelRestoreFusion::MotionModelRestoreFusion() :
        EntityFusionMethod("MotionModelRestoreFusion")
    {
    }
 
    EntityBasePtr
    MotionModelRestoreFusion::fuseEntity(const EntityBasePtr& oldEntity,
                                         const EntityBasePtr& newEntity,
                                         const Ice::Current&)
    {
        ObjectInstancePtr oldObj = ObjectInstancePtr::dynamicCast(oldEntity);
        ObjectInstancePtr newObj = ObjectInstancePtr::dynamicCast(newEntity);
 
        if (oldObj->getMotionModel())
        {
            newObj->setMotionModel(oldObj->getMotionModel());
        }
 
        return newObj;
    }
 
 
} // namespace memoryx