FakeLogicalJoints.h

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// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
 
/* 
* Copyright (C) 2010 RobotCub Consortium, European Commission FP6 Project IST-004370
* Author: Paul Fitzpatrick
* email:    paulfitz@alum.mit.edu
* website: www.robotcub.org
* Permission is granted to copy, distribute, and/or modify this program
* under the terms of the GNU General Public License, version 2 or any
* later version published by the Free Software Foundation.
*
* A copy of the license can be found at
* http://www.robotcub.org/icub/license/gpl.txt
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
* Public License for more details
*/
 
#ifndef ICUBSIMULATION_FAKELOGICALJOINTS_INC
#define ICUBSIMULATION_FAKELOGICALJOINTS_INC
 
#include "LogicalJoints.h"
#include "FakeLogicalJoint.h"
 
#include <map>
 
class FakeLogicalJoints : public LogicalJoints {
private:
    std::map<int,FakeLogicalJoint> joints;
public:
    virtual LogicalJoint& control(int part, int axis) {
        int idx = part*100+axis;
        std::map<int,FakeLogicalJoint>::iterator it = joints.find(idx);
        if (it==joints.end()) {
            return joints[idx] = FakeLogicalJoint();
        }
        return it->second;
    }
};
 
#endif