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JointState.cpp
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JointState.cpp
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/* ============================================================
*
* This file is a part of RST-RT (CogIMon) project
*
* Copyright (C) 2016 by Dennis Leroy Wigand <dwigand at cor-lab dot uni-bielefeld dot de>
*
* This file may be licensed under the terms of the
* GNU Lesser General Public License Version 3 (the ``LGPL''),
* or (at your option) any later version.
*
* Software distributed under the License is distributed
* on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either
* express or implied. See the LGPL for the specific language
* governing rights and limitations.
*
* You should have received a copy of the LGPL along with this
* program. If not, go to http://www.gnu.org/licenses/lgpl.html
* or write to the Free Software Foundation, Inc.,
* 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
*
* The development of this software was supported by:
* CoR-Lab, Research Institute for Cognition and Robotics
* Bielefeld University
*
* ============================================================ */
#include "JointState.hpp"
namespace rstrt {
namespace robot {
JointState::JointState() {
}
JointState::JointState(int size) {
this->angles.resize(size);
this->angles.fill(0);
this->velocities.resize(size);
this->velocities.fill(0);
this->torques.resize(size);
this->torques.fill(0);
}
std::ostream& operator<<(std::ostream& os, const JointState& cd) {
return os << "JointState : {\nangles : " << cd.angles << "\nvelocities : " << cd.velocities << "\ntorques : " << cd.torques << "\n}";
}
std::istream& operator>>(std::istream& is, JointState& cd) {
return is;// >> cd.angles;
}
}
}