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

00001 /*
00002  * Copyright (c) 2007, 2008, 2009, 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 Alexander Bierbaum
00019  */
00020 
00027 #include "../include/IPSA/viewer/instructions/SetJointTorque.h"
00028 #include "../include/IPSA/ipsaclasses.h"
00029 
00030 #include <cstdlib>
00031 
00032 
00033 Instruction::tExecResultType SetJointTorque::vExecute(std::vector<std::string>& Instr, std::ostringstream& answer, unsigned int& numberOfReturnValues)
00034 {
00035     numberOfReturnValues = 0;
00036                 tExecResultType res = eJOINT_NOT_FOUND;
00037                 SoJoint* joint = dynamic_cast<SoJoint*> (SoNode::getByName(Instr[1].c_str()));
00038                 if (joint != NULL)
00039                 {
00040                                 joint->setTorque((dReal)atof(Instr[2].c_str()));
00041                                 res = eOK;
00042                 }
00043                 return res;
00044 }