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SIG_JointSensor.cpp

00001 #include "SIGEL_Robot/SIG_JointSensor.h"
00002 
00003 namespace SIGEL_Robot {
00004         SIG_JointSensor::SIG_JointSensor (SIG_Robot *par, QString n, int nr = -1)
00005                 : SIG_Sensor (par, n, nr),
00006                   theJoint (0)
00007         { }
00008 
00009         SIG_JointSensor::SIG_JointSensor (SIG_Robot *par, QTextStream & tx)
00010                 : SIG_Sensor (par, tx)
00011         {
00012                 QString b;
00013                 tx >> b;
00014                 theJoint = par->lookupJoint (b);
00015         }
00016         
00017         SIG_JointSensor::~SIG_JointSensor (void)
00018         { }
00019 
00020         SIG_Sensor::SensorType SIG_JointSensor::getSensorType (void) const
00021         {
00022                 return tJointSensor;
00023         }
00024         
00025         void SIG_JointSensor::setJoint (SIG_Joint *j)
00026         {
00027                 theJoint = j;
00028         }
00029 
00030         SIG_Joint const *SIG_JointSensor::getJoint (void) const
00031         {
00032                 return theJoint;
00033         }
00034 
00035         void SIG_JointSensor::writeToFileTransfer (QTextStream & tx)
00036         {
00037                 tx << "JointSensor ";
00038                 SIG_Sensor::writeToFileTransfer (tx);
00039                 tx << theJoint->getName () << '\n';
00040         }
00041 }

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