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[proposal] Add class for single link model. #321

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[proposal] Add class for single link model. #321

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21 changes: 21 additions & 0 deletions irteus/irtrobot.l
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Original file line number Diff line number Diff line change
Expand Up @@ -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 "$Id$")
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