IPSA: source/viewer/instructions/SetJointForce.cpp Source File

00001 /*
00002  * Copyright (c) 2010, University of Karlsruhe (for members see AUTHORS file)
00003  *
00004  * ISC License
00005  *
00006  * Permission to use, copy, modify, and/or distribute this software for any
00007  * purpose with or without fee is hereby granted, provided that the above
00008  * copyright notice and this permission notice appear in all copies.
00009  *
00010  * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
00011  * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
00012  * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
00013  * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
00014  * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
00015  * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
00016  * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
00017  *
00018  * Created by Manfred Kroehnert
00019  */
00020 
00027 #include "../include/IPSA/ipsaclasses.h"
00028 #include "../include/IPSA/viewer/instructions/SetJointForce.h"
00029 
00030 #include <cstdlib>
00031 
00032 
00033 Instruction::tExecResultType SetJointForce::vExecute(std::vector<std::string>& Instr, std::ostringstream& answer, unsigned int& numberOfReturnValues)
00034 {
00035     numberOfReturnValues = 0;
00036                 tExecResultType res = eBODY_NOT_FOUND;
00037                 SoJoint* joint = Instruction::GetNodeOfTypeByName<SoJoint*>(Instr[1]);
00038                 if (joint)
00039                 {
00040 #ifndef WIN32
00041         const float FORCE = strtof(Instr[2].c_str(), NULL);
00042 #else
00043         const float FORCE = (float)strtod(Instr[2].c_str(), NULL);
00044 #endif
00045                                 joint->setForce(FORCE);
00046                                 res = eOK;
00047                 }
00048                 else
00049                                 res = eJOINT_TYPE_INCOMPATIBLE;
00050 
00051                 return res;
00052 }