Oncilla.cpp
bc2f955fcef8issue335

Oncilla.cpp
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			/*
			* Oncilla.cpp
			*
			* Created on: 15 dec. 2011
			* Author: Alexandre Tuleu, Arne Nordmann
			*/
			#include "Oncilla.h"
			#include "OncillaTrunk.h"
			#include "OncillaL0.h"
			#include "OncillaL1L2.h"
			#include "OncillaL3.h"
			#include "OncillaL4.h"
			#include "BackendFactory.h"

			namespace rci {
			namespace oncilla {

			OncillaSynchronizerPtr Oncilla::s_synchronizer;
			Oncilla::LegNames Oncilla::s_legNames;



			const std::string & Oncilla::nameOfLeg(Leg l){
			if(s_legNames.empty()){
			s_legNames.push_back("Left Fore");
			s_legNames.push_back("Right Fore");
			s_legNames.push_back("Left Hind");
			s_legNames.push_back("Right Hind");
			s_legNames.push_back("Undefined");
			}

			if(l >= NUM_LEGS){
			return s_legNames.back();
			}

			return s_legNames[l];
			}



			Oncilla::Oncilla(){
			if(!s_synchronizer){
			BackendFactory::EntryPtr e = BackendFactory::Instance().HighestPriorityBackend();
			if( e == 0){
			throw std::runtime_error("No backend for liboncilla were found. Are you"
			" sure you are linking your program with a backend like "
			"'liboncilla-webots' or 'liboncilla-hw' ?.");
			}

			s_synchronizer = (*e)();
			init();
			}

			}

			Oncilla::~Oncilla() {
			}

			#define CREATE_NODES(LegName)do{\
			d_L0s.push_back(OncillaL0Ptr(new OncillaL0(LegName " Oncilla L0" )));\
			d_L1s.push_back(OncillaL1Ptr(new OncillaL1L2(*s_synchronizer,\
			LegName " Oncilla L1")));\
			d_L2s.push_back(OncillaL2Ptr(new OncillaL1L2(*s_synchronizer,\
			LegName " Oncilla L2")));\
			d_L3s.push_back(OncillaL3Ptr(new OncillaL3(LegName " Oncilla L3")));\
			d_L4s.push_back(OncillaL4Ptr(new OncillaL4(LegName " Oncilla L4")));\
			}while(0)

			#define REGISTER_NODES(Type)do{\
			for(std::vector < Oncilla ## Type ## Ptr >::const_iterator n = d_ ## Type ## s.begin();\
			n != d_ ## Type ## s.end();\
			++n){\
			Oncilla::Leg l = static_cast<Oncilla::Leg>(n - d_ ## Type ## s.begin());\
			s_synchronizer->register ## Type ## Node(l,*n);\
			}\
			}while(0)


			void Oncilla::init() {
			d_L0s.reserve(4);
			d_L1s.reserve(4);
			d_L2s.reserve(4);
			d_L3s.reserve(4);
			d_L4s.reserve(4);

			CREATE_NODES("Left Fore");
			CREATE_NODES("Right Fore");
			CREATE_NODES("Left Hind");
			CREATE_NODES("Right Hind");

			d_trunk = OncillaTrunkPtr(new OncillaTrunk("Oncilla Trunk"));

			REGISTER_NODES(L0);
			REGISTER_NODES(L1);
			REGISTER_NODES(L2);
			REGISTER_NODES(L3);
			REGISTER_NODES(L4);
			s_synchronizer->registerTrunkNode(d_trunk);

			}

			OncillaL0Ptr Oncilla::getL0(Leg l) const {
			return this->d_L0s[l];
			}

			OncillaL1Ptr Oncilla::getL1(Leg l) const {
			return this->d_L1s[l];
			}

			OncillaL2Ptr Oncilla::getL2(Leg l) const {
			return this->d_L2s[l];
			}

			OncillaL3Ptr Oncilla::getL3(Leg l) const {
			return this->d_L3s[l];
			}

			OncillaL4Ptr Oncilla::getL4(Leg l) const {
			return this->d_L4s[l];
			}

			OncillaTrunkPtr Oncilla::getTrunk() const {
			return this->d_trunk;
			}

			OncillaSynchronizerPtr Oncilla::getSynchronizer() const {
			return this->s_synchronizer;
			}

			}
			}

liboncilla/src/Oncilla.cppbc2f955fcef8issue335

Oncilla.cppView Options

liboncilla/src/Oncilla.cpp
bc2f955fcef8issue335

Oncilla.cpp
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