From 2a8e8c872a2b006ecf30c82571790ca5fa836f3d Mon Sep 17 00:00:00 2001
From: Shunichi Nozawa <notheworld@gmail.com>
Date: Fri, 11 Dec 2015 23:39:23 +0900
Subject: [PATCH] [irteus/irtrobot.l] Add class for single link model.
---
irteus/irtrobot.l | 21 +++++++++++++++++++++
1 file changed, 21 insertions(+)
diff --git a/irteus/irtrobot.l b/irteus/irtrobot.l
index 8f965f5e3..3859ba781 100644
--- a/irteus/irtrobot.l
+++ b/irteus/irtrobot.l
@@ -1017,6 +1017,27 @@
))
sbp))
)
+
+;;;;;;;;;;;;;;;;
+;; Utilities for object model
+;;;;;;;;;;;;;;;;
+(defclass single-link-model
+ :super cascaded-link
+ :slots ()
+ )
+
+(defmethod single-link-model
+ (:init
+ (&key (name) ((:bodies bs)))
+ (prog1
+ (send-super :init :name name)
+ (setq links (list (instance bodyset-link :init (make-cascoords)
+ :bodies bs :name :root-link)))
+ (send self :assoc (car links))
+ (send self :init-ending)
+ ))
+ )
+
(in-package "GEOMETRY")
(provide :irtrobot "$Id$")