b15f3c1155
"Professional CMake" book suggest the following: "Targets should build successfully with or without compiler support for precompiled headers. It should be considered an optimization, not a requirement. In particular, do not explicitly include a precompile header (e.g. stdafx.h) in the source code, let CMake force-include an automatically generated precompile header on the compiler command line instead. This is more portable across the major compilers and is likely to be easier to maintain. It will also avoid warnings being generated from certain code checking tools like iwyu (include what you use)." Therefore, removed the "#include <PreCompiled.h>" from sources, also there is no need for the "#ifdef _PreComp_" anymore
145 lines
5.3 KiB
C++
145 lines
5.3 KiB
C++
/***************************************************************************
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* Copyright (c) 2002 Jürgen Riegel <juergen.riegel@web.de> *
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* *
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* This file is part of the FreeCAD CAx development system. *
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* *
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* This library is free software; you can redistribute it and/or *
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* modify it under the terms of the GNU Library General Public *
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* License as published by the Free Software Foundation; either *
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* version 2 of the License, or (at your option) any later version. *
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* *
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* This library is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
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* GNU Library General Public License for more details. *
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* *
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* You should have received a copy of the GNU Library General Public *
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* License along with this library; see the file COPYING.LIB. If not, *
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* write to the Free Software Foundation, Inc., 59 Temple Place, *
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* Suite 330, Boston, MA 02111-1307, USA *
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* *
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***************************************************************************/
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#include "kdl_cp/chain.hpp"
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#include <Base/Reader.h>
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#include <Base/Writer.h>
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#include "Waypoint.h"
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using namespace Robot;
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using namespace Base;
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using namespace KDL;
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TYPESYSTEM_SOURCE(Robot::Waypoint, Base::Persistence)
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Waypoint::Waypoint(const char* name,
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const Base::Placement& endPos,
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WaypointType type,
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float velocity,
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float acceleration,
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bool cont,
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unsigned int tool,
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unsigned int base)
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: Name(name)
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, Type(type)
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, Velocity(velocity)
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, Acceleration(acceleration)
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, Cont(cont)
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, Tool(tool)
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, Base(base)
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, EndPos(endPos)
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{}
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Waypoint::Waypoint()
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: Type(UNDEF)
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, Velocity(1000.0)
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, Acceleration(100.0)
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, Cont(false)
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, Tool(0)
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, Base(0)
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{}
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Waypoint::~Waypoint() = default;
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unsigned int Waypoint::getMemSize() const
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{
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return 0;
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}
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void Waypoint::Save(Writer& writer) const
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{
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writer.Stream() << writer.ind() << "<Waypoint "
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<< "name=\"" << Name << "\" "
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<< "Px=\"" << EndPos.getPosition().x << "\" "
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<< "Py=\"" << EndPos.getPosition().y << "\" "
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<< "Pz=\"" << EndPos.getPosition().z << "\" "
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<< "Q0=\"" << EndPos.getRotation()[0] << "\" "
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<< "Q1=\"" << EndPos.getRotation()[1] << "\" "
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<< "Q2=\"" << EndPos.getRotation()[2] << "\" "
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<< "Q3=\"" << EndPos.getRotation()[3] << "\" "
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<< "vel=\"" << Velocity << "\" "
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<< "acc=\"" << Acceleration << "\" "
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<< "cont=\"" << int((Cont) ? 1 : 0) << "\" "
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<< "tool=\"" << Tool << "\" "
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<< "base=\"" << Base << "\" ";
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if (Type == Waypoint::PTP) {
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writer.Stream() << " type=\"PTP\"/> ";
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}
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else if (Type == Waypoint::LINE) {
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writer.Stream() << " type=\"LIN\"/> ";
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}
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else if (Type == Waypoint::CIRC) {
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writer.Stream() << " type=\"CIRC\"/> ";
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}
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else if (Type == Waypoint::WAIT) {
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writer.Stream() << " type=\"WAIT\"/> ";
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}
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else if (Type == Waypoint::UNDEF) {
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writer.Stream() << " type=\"UNDEF\"/> ";
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}
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writer.Stream() << std::endl;
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}
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void Waypoint::Restore(XMLReader& reader)
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{
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// read my Element
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reader.readElement("Waypoint");
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Name = reader.getAttribute<const char*>("name");
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// get the value of the placement
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EndPos = Base::Placement(Base::Vector3d(reader.getAttribute<double>("Px"),
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reader.getAttribute<double>("Py"),
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reader.getAttribute<double>("Pz")),
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Base::Rotation(reader.getAttribute<double>("Q0"),
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reader.getAttribute<double>("Q1"),
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reader.getAttribute<double>("Q2"),
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reader.getAttribute<double>("Q3")));
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Velocity = (float)reader.getAttribute<double>("vel");
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Acceleration = (float)reader.getAttribute<double>("acc");
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Cont = reader.getAttribute<bool>("cont");
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Tool = reader.getAttribute<long>("tool");
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Base = reader.getAttribute<long>("base");
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std::string type = reader.getAttribute<const char*>("type");
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if (type == "PTP") {
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Type = Waypoint::PTP;
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}
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else if (type == "LIN") {
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Type = Waypoint::LINE;
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}
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else if (type == "CIRC") {
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Type = Waypoint::CIRC;
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}
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else if (type == "WAIT") {
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Type = Waypoint::WAIT;
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}
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else {
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Type = Waypoint::UNDEF;
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}
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}
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