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/** \author Dalibor Matura, Jia Pan */

#include "fcl/articulated_model/joint_config.h"
#include "fcl/articulated_model/joint.h"

namespace fcl
{

JointConfig::JointConfig() {}

JointConfig::JointConfig(const JointConfig& joint_cfg) :
  joint_(joint_cfg.joint_),
  values_(joint_cfg.values_),
  limits_min_(joint_cfg.limits_min_),
  limits_max_(joint_cfg.limits_max_)
{
}

JointConfig::JointConfig(const boost::shared_ptr<Joint>& joint,
                         FCL_REAL default_value,
                         FCL_REAL default_value_min,
                         FCL_REAL default_value_max) :
  joint_(joint)
{
  values_.resize(joint->getNumDofs(), default_value);
  limits_min_.resize(joint->getNumDofs(), default_value_min);
  limits_max_.resize(joint->getNumDofs(), default_value_max);
}

std::size_t JointConfig::getDim() const
{
  return values_.size();
}

FCL_REAL JointConfig::getValue(std::size_t i) const
{
  return values_[i];
}

FCL_REAL& JointConfig::getValue(std::size_t i)
{
  return values_[i];
}

FCL_REAL JointConfig::getLimitMin(std::size_t i) const
{
  return limits_min_[i];
}

FCL_REAL& JointConfig::getLimitMin(std::size_t i)
{
  return limits_min_[i];
}

FCL_REAL JointConfig::getLimitMax(std::size_t i) const
{
  return limits_max_[i];
}

FCL_REAL& JointConfig::getLimitMax(std::size_t i)
{
  return limits_max_[i];
}



boost::shared_ptr<Joint> JointConfig::getJoint() const
{
  return joint_.lock();
}

}
