source/viewer/instructions/GetJointAngleRate.cpp

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/*
 * Copyright (c) 2007, 2008, 2009, University of Karlsruhe (for members see AUTHORS file)
 *
 * ISC License
 *
 * Permission to use, copy, modify, and/or distribute this software for any
 * purpose with or without fee is hereby granted, provided that the above
 * copyright notice and this permission notice appear in all copies.
 *
 * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
 * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
 * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
 * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
 * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
 * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
 * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
 *
 * Created by Alexander Bierbaum
 */

#include "../include/IPSA/ipsaclasses.h"
#include "../include/IPSA/viewer/instructions/GetJointAngleRate.h"

#include <sstream>

Instruction::tExecResultType GetJointAngleRate::vExecute(std::vector<std::string>& Instr, std::ostringstream& answer, unsigned int& numberOfReturnValues)
{
    numberOfReturnValues = 0;
                tExecResultType res = eJOINT_NOT_FOUND;
                SoNode * node = SoNode::getByName(Instr[1].c_str());
                if (node != NULL)
                {
                                if (node->getTypeId()==SoJointHinge::getClassTypeId())
                                {
                                                SoJointHinge*  joint = (SoJointHinge *)node;
                                                answer << std::scientific << joint->getAngleRate().getValue();
                                                numberOfReturnValues = 1;
                                                res = eOK;
                                }
                                else if (node->getTypeId()==SoJointHinge2::getClassTypeId())
                                {
                                                SoJointHinge2*  joint = (SoJointHinge2 *)node;
                                                answer << std::scientific << joint->getAngleRate().getValue();
                                                numberOfReturnValues = 1;
                                                res = eOK;
                                }
                                else
                                                res = eJOINT_TYPE_INCOMPATIBLE;
                }
                answer  << '\r' << std::endl;
                return res;
}

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