PostureNode.cc

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00001 #include "PostureNode.h"
00002 
00003 PostureNode::PostureNode(const std::string &nodename, const std::string &filename)
00004   : MCNode<PostureMC,defPostureNodeName,defPostureNodeDesc,true>(nodename), posture() {
00005   if ( filename.size() > 0 )
00006     posture.loadFile(filename.c_str());
00007 }
00008 
00009 void PostureNode::preStart() {
00010   MCNode<PostureMC,defPostureNodeName,defPostureNodeDesc,true>::preStart();
00011   getMC()->setAverage(posture,1);  // copy cached posture into the motion command
00012 }
00013 
00014 void PostureNode::loadFile(const std::string &filename) {
00015   posture.loadFile(filename.c_str());
00016   getMC()->setAverage(posture,1);
00017 }
00018