[Personalrobots-commit] SF.net SVN: personalrobots:[20668] pkg/trunk/motion_planning/ planning_models

[<is...@us...>]

Revision: 20668
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=20668&view=rev
Author:   isucan
Date:     2009-08-04 18:15:14 +0000 (Tue, 04 Aug 2009)

Log Message:
-----------
one more helper function

Modified Paths:
--------------
    pkg/trunk/motion_planning/planning_models/include/planning_models/kinematic_state_params.h
    pkg/trunk/motion_planning/planning_models/src/kinematic_state_params.cpp

Modified: pkg/trunk/motion_planning/planning_models/include/planning_models/kinematic_state_params.h
===================================================================
--- pkg/trunk/motion_planning/planning_models/include/planning_models/kinematic_state_params.h	2009-08-04 18:14:43 UTC (rev 20667)
+++ pkg/trunk/motion_planning/planning_models/include/planning_models/kinematic_state_params.h	2009-08-04 18:15:14 UTC (rev 20668)
@@ -189,6 +189,12 @@
 	/** \brief Copy the parameters describing a given joint */
 	void copyParamsJoint(std::vector<double> &params, const std::string &name) const;
 	
+	/** \brief Copy the parameters describing a given set of joints */
+	void copyParamsJoints(double *params, const std::vector<std::string> &names) const;
+
+	/** \brief Copy the parameters describing a given set of joints */
+	void copyParamsJoints(std::vector<double> &params, const std::vector<std::string> &names) const;
+	
 	/** \brief Check if all params for a joint were seen */
 	bool seenJoint(const std::string &name) const;
 	

Modified: pkg/trunk/motion_planning/planning_models/src/kinematic_state_params.cpp
===================================================================
--- pkg/trunk/motion_planning/planning_models/src/kinematic_state_params.cpp	2009-08-04 18:14:43 UTC (rev 20667)
+++ pkg/trunk/motion_planning/planning_models/src/kinematic_state_params.cpp	2009-08-04 18:15:14 UTC (rev 20668)
@@ -482,6 +482,18 @@
 	params[i] = m_params[i];
 }
 
+void planning_models::StateParams::copyParamsJoints(std::vector<double> &params, const std::vector<std::string> &names) const
+{
+    params.clear();
+    for (unsigned int j = 0 ; j < names.size() ; ++j)
+    {
+	std::vector<double> p;
+	copyParamsJoint(p, names[j]);
+	for (unsigned int i = 0 ; i < p.size() ; ++i)
+	    params.push_back(p[i]);
+    }
+}
+
 void planning_models::StateParams::copyParamsGroup(double *params, const std::string &group) const
 {
     copyParamsGroup(params, m_owner->getGroupID(group));


This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.