From d60331c6239477660494466071be2e607e11e1e1 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Sergi=20Hern=C3=A1ndez?= <shernand@iri.upc.edu>
Date: Sun, 6 Apr 2014 21:17:52 +0000
Subject: [PATCH] Added classes to handle and hold motion file data.
---
src/CMakeLists.txt | 6 +-
src/bioloid_motion_pages.cpp | 38 ++++++-
src/parser/CMakeLists.txt | 4 +-
src/parser/mtn_file.cpp | 154 ++++++++++++++++++++++++++++
src/parser/mtn_file.h | 36 +++++++
src/parser/mtn_file.y | 84 ++++++++++------
src/parser/mtn_file_parser.cpp | 37 +++++++
src/parser/mtn_file_parser.hpp | 11 +-
src/parser/mtn_page.cpp | 178 +++++++++++++++++++++++++++++++++
src/parser/mtn_page.h | 42 ++++++++
src/parser/mtn_step.cpp | 86 ++++++++++++++++
src/parser/mtn_step.h | 25 +++++
12 files changed, 664 insertions(+), 37 deletions(-)
create mode 100644 src/parser/mtn_file.cpp
create mode 100644 src/parser/mtn_file.h
create mode 100644 src/parser/mtn_page.cpp
create mode 100644 src/parser/mtn_page.h
create mode 100644 src/parser/mtn_step.cpp
create mode 100644 src/parser/mtn_step.h
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 3279187..4d10d16 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -5,11 +5,11 @@ INCLUDE_DIRECTORIES(. ./parser)
INCLUDE_DIRECTORIES(${CMAKE_CURRENT_BINARY_DIR}/parser)
INCLUDE_DIRECTORIES(${CMAKE_CURRENT_BINARY_DIR})
# application source files
-SET(sources bioloid_motion_pages.cpp ${motion_parser_SRCS})
+SET(sources bioloid_motion_pages.cpp)
# application header files
SET(headers bioloid_motion_pages.h)
# create the executable file
ADD_EXECUTABLE(bioloid_motion_pages ${sources})
-TARGET_LINK_LIBRARIES(bioloid_motion_pages motion_parser)
+TARGET_LINK_LIBRARIES(bioloid_motion_pages mtn_parser)
# link necessary libraries
-ADD_DEPENDENCIES(bioloid_motion_pages motion_parser)
+ADD_DEPENDENCIES(bioloid_motion_pages mtn_parser)
diff --git a/src/bioloid_motion_pages.cpp b/src/bioloid_motion_pages.cpp
index 85265b8..b374f6f 100755
--- a/src/bioloid_motion_pages.cpp
+++ b/src/bioloid_motion_pages.cpp
@@ -1,14 +1,46 @@
#include <iostream>
#include <cstdlib>
-#include "mc_driver.hpp"
+#include "mtn_file_parser.hpp"
int main(const int argc,char *argv[])
{
+ std::vector<unsigned short int> angles;
+ unsigned int i=0,j=0,k=0;
+ CMtnFile *motions;
+ CMtnPage *page;
+ CMtnStep *step;
+
if(argc!=2)
return (EXIT_FAILURE);
- MC::MC_Driver driver;
- driver.parse(argv[1]);
+ MTN::MTN_File_Parser mtn_parser;
+ mtn_parser.parse(argv[1]);
+ motions=mtn_parser.get_motions();
+
+ std::cout << "Num. pages: " << motions->get_num_pages() << std::endl;
+ for(i=0;i<motions->get_num_pages();i++)
+ {
+ page=motions->get_page(i);
+ std::cout << "name: " << page->get_name() << std::endl;
+ std::cout << "next page: " << page->get_next_page() << std::endl;
+ std::cout << "exit page: " << page->get_exit_page() << std::endl;
+ std::cout << "repetitions: " << page->get_repetitions() << std::endl;
+ std::cout << "speed rate: " << page->get_speed_rate() << std::endl;
+ std::cout << "inertial force: " << page->get_inertial() << std::endl;
+ std::cout << "Num. steps: " << page->get_num_steps() << std::endl;
+ for(j=0;j<page->get_num_steps();j++)
+ {
+ step=page->get_step(j);
+ std::cout << "angles: ";
+ angles=step->get_angles();
+ for(k=0;k<angles.size();k++)
+ std::cout << angles[k] << ",";
+ std::cout << std::endl;
+ std::cout << "pausetime: " << step->get_pause_time() << std::endl;
+ std::cout << "step time: " << step->get_step_time() << std::endl;
+ }
+
+ }
return(EXIT_SUCCESS);
}
diff --git a/src/parser/CMakeLists.txt b/src/parser/CMakeLists.txt
index 86ad402..2c36ec5 100644
--- a/src/parser/CMakeLists.txt
+++ b/src/parser/CMakeLists.txt
@@ -25,7 +25,9 @@ IF(FLEX_FOUND)
)
ENDIF()
+SET(mtn_SRCS mtn_file_parser.cpp mtn_file.cpp mtn_page.cpp mtn_step.cpp)
+
include_directories(${CMAKE_CURRENT_SOURCE_DIR})
include_directories(${CMAKE_CURRENT_BINARY_DIR})
-add_library(mtn_parser SHARED ${BisonOutput} ${FlexOutput} mtn_file_parser.cpp)
+add_library(mtn_parser SHARED ${BisonOutput} ${FlexOutput} ${mtn_SRCS})
diff --git a/src/parser/mtn_file.cpp b/src/parser/mtn_file.cpp
new file mode 100644
index 0000000..7fe8e0d
--- /dev/null
+++ b/src/parser/mtn_file.cpp
@@ -0,0 +1,154 @@
+#include "mtn_file.h"
+
+CMtnFile::CMtnFile()
+{
+ this->type="";
+ this->version=0.0;
+ this->enable.clear();
+ this->motor_type.clear();
+ this->pages.clear();
+}
+
+void CMtnFile::set_type(std::string &type)
+{
+ this->type=type;
+}
+
+void CMtnFile::set_version(double version)
+{
+ this->version=version;
+}
+
+void CMtnFile::set_num_servos(unsigned int num_servos)
+{
+ this->enable.resize(num_servos);
+ this->motor_type.resize(num_servos);
+}
+
+void CMtnFile::set_enable(unsigned int servo,bool enable)
+{
+ if(servo>this->enable.size())
+ {
+ /* handle errors */
+ }
+ else
+ this->enable[servo]=enable;
+}
+
+void CMtnFile::set_enables(std::vector<bool> &enables)
+{
+ unsigned int i=0;
+
+ if(this->enable.size()!=enables.size())
+ {
+ /* handle errors */
+ }
+ else
+ for(i=0;i<this->enable.size();i++)
+ this->enable[i]=enables[i];
+}
+
+void CMtnFile::set_motor_type(unsigned int servo, int motor_type)
+{
+ if(servo>this->motor_type.size())
+ {
+ /* handle errors */
+ }
+ else
+ this->motor_type[servo]=motor_type;
+}
+
+void CMtnFile::set_motor_types(std::vector<int> &motor_types)
+{
+ unsigned int i=0;
+
+ if(this->motor_type.size()!=motor_types.size())
+ {
+ /* handle errors */
+ }
+ else
+ for(i=0;i<this->motor_type.size();i++)
+ this->motor_type[i]=motor_types[i];
+}
+
+void CMtnFile::add_page(CMtnPage *page)
+{
+ this->pages.push_back(page);
+}
+
+std::string CMtnFile::get_type(void)
+{
+ return this->type;
+}
+
+double CMtnFile::get_version(void)
+{
+ return this->version;
+}
+
+unsigned int CMtnFile::get_num_servos(void)
+{
+ return this->enable.size();
+}
+
+bool CMtnFile::get_enable(unsigned int servo)
+{
+ if(servo>this->enable.size())
+ {
+ /* handle errors */
+ }
+ else
+ return this->enable[servo];
+}
+
+std::vector<bool> CMtnFile::get_enables(void)
+{
+ return this->enable;
+}
+
+int CMtnFile::get_motor_type(unsigned int servo)
+{
+ if(servo>this->motor_type.size())
+ {
+ /* handle errors */
+ }
+ else
+ return this->motor_type[servo];
+}
+
+std::vector<int> CMtnFile::get_motor_types(void)
+{
+ return this->motor_type;
+}
+
+unsigned int CMtnFile::get_num_pages(void)
+{
+ return this->pages.size();
+}
+
+CMtnPage *CMtnFile::get_page(unsigned int page)
+{
+ if(page>this->pages.size())
+ {
+ /* handle errors */
+ }
+ else
+ return this->pages[page];
+}
+
+CMtnFile::~CMtnFile()
+{
+ unsigned int i=0;
+
+ this->type="";
+ this->version=0.0;
+ this->enable.clear();
+ this->motor_type.clear();
+ for(i=0;i<this->pages.size();i++)
+ {
+ delete this->pages[i];
+ this->pages[i]=NULL;
+ }
+ this->pages.clear();
+}
+
diff --git a/src/parser/mtn_file.h b/src/parser/mtn_file.h
new file mode 100644
index 0000000..edd2f55
--- /dev/null
+++ b/src/parser/mtn_file.h
@@ -0,0 +1,36 @@
+#ifndef _MTN_FILE_H
+#define _MTN_FILE_H
+
+#include "mtn_page.h"
+
+class CMtnFile
+{
+ private:
+ std::string type;
+ double version;
+ std::vector<bool> enable;
+ std::vector<int> motor_type;
+ std::vector<CMtnPage *> pages;
+ public:
+ CMtnFile();
+ void set_type(std::string &type);
+ void set_version(double version);
+ void set_num_servos(unsigned int num_servos);
+ void set_enable(unsigned int servo,bool enable);
+ void set_enables(std::vector<bool> &enables);
+ void set_motor_type(unsigned int servo, int motor_type);
+ void set_motor_types(std::vector<int> &motor_types);
+ void add_page(CMtnPage *page);
+ std::string get_type(void);
+ double get_version(void);
+ unsigned int get_num_servos(void);
+ bool get_enable(unsigned int servo);
+ std::vector<bool> get_enables(void);
+ int get_motor_type(unsigned int servo);
+ std::vector<int> get_motor_types(void);
+ unsigned int get_num_pages(void);
+ CMtnPage *get_page(unsigned int page);
+ ~CMtnFile();
+};
+
+#endif
diff --git a/src/parser/mtn_file.y b/src/parser/mtn_file.y
index 1f65574..020d8f9 100644
--- a/src/parser/mtn_file.y
+++ b/src/parser/mtn_file.y
@@ -19,7 +19,7 @@
%lex-param { MTN_File_Parser &parser }
%parse-param { MTN_File_Parser &parser }
-
+
%code
{
#include <iostream>
@@ -27,6 +27,17 @@
#include <fstream>
/* include for all driver functions */
#include "mtn_file_parser.hpp"
+
+ /* motion files variables */
+ int num_servos=0;
+ std::vector<bool> enables;
+ std::vector<int> motor_types;
+ CMtnPage *page;
+ std::vector<unsigned int> compliances;
+ std::string motion_name;
+ CMtnStep *step;
+ std::vector<unsigned short int> angles;
+
/* this is silly, but I can't figure out a way around */
static int yylex(MTN::MTN_Parser::semantic_type *yylval,MTN::MTN_File_Scanner &scanner,MTN::MTN_File_Parser &parser);
}
@@ -52,68 +63,83 @@
motion_file: type version enables motor_types pages
;
-type: TYPE EQUAL STRING { std::cout << "Type: " << *($3) << std::endl; }
+type: TYPE EQUAL STRING { parser.set_type(*($3)); }
;
-version: VERSION EQUAL FLOAT { std::cout << "version: " << $3 << std::endl; }
+version: VERSION EQUAL FLOAT { parser.set_version($3); }
;
-enables: ENABLE EQUAL enable
+enables: ENABLE EQUAL enable { parser.set_num_servos(num_servos);
+ parser.set_enables(enables);
+ std::cout << num_servos << std::endl;}
;
-enable: enable INT
- | INT
+enable: enable INT { num_servos++;
+ enables.push_back($2); }
+ | INT { num_servos++;
+ enables.push_back($1); }
;
motor_types:
- | MOTOR_TYPE EQUAL motor_type
+ | MOTOR_TYPE EQUAL motor_type { parser.set_motor_types(motor_types); }
;
-motor_type: motor_type INT
- | INT
+motor_type: motor_type INT { motor_types.push_back($2); }
+ | INT { motor_types.push_back($1); }
;
pages: pages page
- | page
+ | page
;
-page: BEGIN_PAGE name compliances params steps END_PAGE
- | BEGIN_PAGE name compliances params END_PAGE
+page: BEGIN_PAGE name compliances params steps END_PAGE { parser.add_page(page);
+ motion_name="";
+ compliances.clear(); }
+ | BEGIN_PAGE name compliances params END_PAGE { parser.add_page(page);
+ motion_name="";
+ compliances.clear(); }
;
-name: NAME EQUAL
- | NAME EQUAL strings
+name: NAME EQUAL { page=new CMtnPage(num_servos);
+ motion_name="";
+ page->set_name(motion_name); }
+ | NAME EQUAL strings { page=new CMtnPage(num_servos);
+ page->set_name(motion_name); }
;
-strings: strings STRING
- | STRING
+strings: strings STRING { motion_name+=" "+*($2); }
+ | STRING { motion_name+=*($1); }
;
-compliances: COMPLIANCE EQUAL compliance
+compliances: COMPLIANCE EQUAL compliance { page->set_compliances(compliances); }
;
-compliance: compliance INT
- | INT
+compliance: compliance INT { compliances.push_back($2); }
+ | INT { compliances.push_back($1); }
;
-params: PLAY_PARAMS EQUAL INT INT INT FLOAT INT { std::cout << "next motion: " << $3 << std::endl;
- std::cout << "exit motion: " << $4 << std::endl;
- std::cout << "repetitions: " << $5 << std::endl;
- std::cout << "speed rate: " << $6 << std::endl;
- std::cout << "inertial force: " << $7 << std::endl; }
+params: PLAY_PARAMS EQUAL INT INT INT FLOAT INT { page->set_next_page($3);
+ page->set_exit_page($4);
+ page->set_repetitions($5);
+ page->set_speed_rate($6);
+ page->set_inertial($7); }
;
-steps: steps step
+steps: steps step
| step
;
-step: STEP EQUAL angles FLOAT FLOAT { std::cout << "pause time: " << $4 << std::endl;
- std::cout << "step time: " << $5 << std::endl; }
+step: STEP EQUAL angles FLOAT FLOAT { step=new CMtnStep(num_servos);
+ step->set_angles(angles);
+ angles.clear();
+ step->set_pause_time($4);
+ step->set_step_time($5);
+ page->add_step(step); }
;
-angles: angles INT
- | INT
+angles: angles INT { angles.push_back($2); }
+ | INT { angles.push_back($1); }
;
%%
void
diff --git a/src/parser/mtn_file_parser.cpp b/src/parser/mtn_file_parser.cpp
index e411ec9..7d33019 100644
--- a/src/parser/mtn_file_parser.cpp
+++ b/src/parser/mtn_file_parser.cpp
@@ -3,6 +3,7 @@
#include <cassert>
#include "mtn_file_parser.hpp"
+#include "mtn_parser.hpp"
MTN::MTN_File_Parser::MTN_File_Parser()
{
@@ -47,9 +48,45 @@ void MTN::MTN_File_Parser::parse(const char *filename)
std::cerr << "Failed to allocate parser: (" << ba.what() << "), exiting!!\n";
exit( EXIT_FAILURE );
}
+
const int accept(0);
if(parser->parse()!=accept)
{
std::cerr << "Parse failed!!\n";
}
}
+
+void MTN::MTN_File_Parser::set_type(std::string &type)
+{
+ this->motions.set_type(type);
+}
+
+void MTN::MTN_File_Parser::set_version(double version)
+{
+ this->motions.set_version(version);
+}
+
+void MTN::MTN_File_Parser::set_num_servos(unsigned int num_servos)
+{
+ this->motions.set_num_servos(num_servos);
+}
+
+void MTN::MTN_File_Parser::set_enables(std::vector<bool> &enables)
+{
+ this->motions.set_enables(enables);
+}
+
+void MTN::MTN_File_Parser::set_motor_types(std::vector<int> &motor_types)
+{
+ this->motions.set_motor_types(motor_types);
+}
+
+void MTN::MTN_File_Parser::add_page(CMtnPage *page)
+{
+ this->motions.add_page(page);
+}
+
+CMtnFile *MTN::MTN_File_Parser::get_motions(void)
+{
+ return &(this->motions);
+}
diff --git a/src/parser/mtn_file_parser.hpp b/src/parser/mtn_file_parser.hpp
index ebc4c1c..5768ba6 100644
--- a/src/parser/mtn_file_parser.hpp
+++ b/src/parser/mtn_file_parser.hpp
@@ -3,6 +3,7 @@
#include <string>
#include "mtn_file_scanner.hpp"
+#include "mtn_file.h"
namespace MTN
{
@@ -12,10 +13,18 @@ namespace MTN
MTN_File_Parser();
void parse(const char *filename);
virtual ~MTN_File_Parser();
-
+ // motion files functions
+ void set_type(std::string &type);
+ void set_version(double version);
+ void set_num_servos(unsigned int num_servos);
+ void set_enables(std::vector<bool> &enables);
+ void set_motor_types(std::vector<int> &motor_types);
+ void add_page(CMtnPage *page);
+ CMtnFile *get_motions(void);
private:
MTN::MTN_Parser *parser;
MTN::MTN_File_Scanner *scanner;
+ CMtnFile motions;
};
}
diff --git a/src/parser/mtn_page.cpp b/src/parser/mtn_page.cpp
new file mode 100644
index 0000000..ea95321
--- /dev/null
+++ b/src/parser/mtn_page.cpp
@@ -0,0 +1,178 @@
+#include "mtn_page.h"
+
+CMtnPage::CMtnPage(unsigned int num_servos)
+{
+ this->name="";
+ this->compliance.resize(num_servos);
+ this->next_page=-1;
+ this->exit_page=-1;
+ this->repetitions=0;
+ this->speed_rate=0;
+ this->inertial=-1;
+ this->steps.clear();
+}
+
+void CMtnPage::set_name(std::string &name)
+{
+ this->name=name;
+}
+
+void CMtnPage::set_compliance(unsigned int servo,unsigned int compliance)
+{
+ if(servo>this->compliance.size())
+ {
+ /* handle errors */
+ }
+ else
+ this->compliance[servo]=compliance;
+}
+
+void CMtnPage::set_compliances(std::vector<unsigned int> compliances)
+{
+ unsigned int i=0;
+
+ if(this->compliance.size()!=compliances.size())
+ {
+ /* handle errors */
+ }
+ else
+ {
+ for(i=0;i<this->compliance.size();i++)
+ this->compliance[i]=compliances[i];
+ }
+}
+
+void CMtnPage::set_next_page(unsigned int page)
+{
+ if(page>=256)
+ {
+ /* handle errors */
+ }
+ else
+ this->next_page=page;
+}
+
+void CMtnPage::set_exit_page(unsigned int page)
+{
+ if(page>=256)
+ {
+ /* handle errors */
+ }
+ else
+ this->exit_page=page;
+}
+
+void CMtnPage::set_repetitions(unsigned int num)
+{
+ if(num>=256)
+ {
+ /* handle errors */
+ }
+ else
+ this->repetitions=num;
+}
+
+void CMtnPage::set_speed_rate(double rate)
+{
+ this->speed_rate=rate;
+}
+
+void CMtnPage::set_inertial(unsigned int inertia)
+{
+ if(inertia>=256)
+ {
+ /* handle errors */
+ }
+ else
+ this->inertial=inertia;
+}
+
+void CMtnPage::add_step(CMtnStep *step)
+{
+ if(this->steps.size()>=7)
+ {
+ /* handle errors */
+ }
+ else
+ this->steps.push_back(step);
+}
+
+std::string CMtnPage::get_name(void)
+{
+ return this->name;
+}
+
+unsigned int CMtnPage::get_compliance(unsigned int servo)
+{
+ if(servo>this->compliance.size())
+ {
+ /* handle errors */
+ }
+ else
+ return this->compliance[servo];
+}
+
+std::vector<unsigned int> CMtnPage::get_compliances(void)
+{
+ return this->compliance;
+}
+
+unsigned int CMtnPage::get_next_page(void)
+{
+ return this->next_page;
+}
+
+unsigned int CMtnPage::get_exit_page(void)
+{
+ return this->exit_page;
+}
+
+unsigned int CMtnPage::get_repetitions(void)
+{
+ return this->repetitions;
+}
+
+double CMtnPage::get_speed_rate(void)
+{
+ return this->speed_rate;
+}
+
+unsigned int CMtnPage::get_inertial(void)
+{
+ return this->inertial;
+}
+
+unsigned int CMtnPage::get_num_steps(void)
+{
+ return this->steps.size();
+}
+
+CMtnStep *CMtnPage::get_step(unsigned int step)
+{
+ if(step>this->steps.size())
+ {
+ /* handle error */
+ }
+ else
+ return this->steps[step];
+}
+
+CMtnPage::~CMtnPage()
+{
+ unsigned int i=0;
+
+ this->name.clear();
+ this->compliance.clear();
+ this->next_page=-1;
+ this->exit_page=-1;
+ this->repetitions=0;
+ this->speed_rate=0;
+ this->inertial=-1;
+ for(i=0;i<this->steps.size();i++)
+ {
+ delete this->steps[i];
+ this->steps[i]=NULL;
+ }
+ this->steps.clear();
+}
+
diff --git a/src/parser/mtn_page.h b/src/parser/mtn_page.h
new file mode 100644
index 0000000..22549e1
--- /dev/null
+++ b/src/parser/mtn_page.h
@@ -0,0 +1,42 @@
+#ifndef _MTN_PAGE_H
+#define _MTN_PAGE_H
+
+#include "mtn_step.h"
+#include <string>
+
+class CMtnPage
+{
+ private:
+ std::string name;
+ std::vector<unsigned int> compliance;
+ unsigned int next_page;
+ unsigned int exit_page;
+ unsigned int repetitions;
+ double speed_rate;
+ unsigned int inertial;
+ std::vector<CMtnStep *> steps;
+ public:
+ CMtnPage(unsigned int num_servos);
+ void set_name(std::string &name);
+ void set_compliance(unsigned int servo,unsigned int compliance);
+ void set_compliances(std::vector<unsigned int> compliances);
+ void set_next_page(unsigned int page);
+ void set_exit_page(unsigned int page);
+ void set_repetitions(unsigned int num);
+ void set_speed_rate(double rate);
+ void set_inertial(unsigned int inertia);
+ void add_step(CMtnStep *step);
+ std::string get_name(void);
+ unsigned int get_compliance(unsigned int servo);
+ std::vector<unsigned int> get_compliances(void);
+ unsigned int get_next_page(void);
+ unsigned int get_exit_page(void);
+ unsigned int get_repetitions(void);
+ double get_speed_rate(void);
+ unsigned int get_inertial(void);
+ unsigned int get_num_steps(void);
+ CMtnStep *get_step(unsigned int step);
+ ~CMtnPage();
+};
+
+#endif
diff --git a/src/parser/mtn_step.cpp b/src/parser/mtn_step.cpp
new file mode 100644
index 0000000..377cf35
--- /dev/null
+++ b/src/parser/mtn_step.cpp
@@ -0,0 +1,86 @@
+#include "mtn_step.h"
+
+CMtnStep::CMtnStep(unsigned int num_servos)
+{
+ this->angles.resize(num_servos);
+ this->pause_time=0.0;
+ this->step_time=0.0;
+}
+
+void CMtnStep::set_angle(unsigned int servo,unsigned short int angle)
+{
+ if(servo>this->angles.size())
+ {
+ /* handle errors */
+ }
+ else
+ this->angles[servo]=angle;
+}
+
+void CMtnStep::set_angles(std::vector<unsigned short int> &angles)
+{
+ unsigned int i=0;
+
+ if(angles.size()!=this->angles.size())
+ {
+ /* handle errors */
+ }
+ else
+ {
+ for(i=0;i<angles.size();i++)
+ this->angles[i]=angles[i];
+ }
+}
+
+void CMtnStep::set_pause_time(double time)
+{
+ if(time<0.0)
+ {
+ /* handle errors */
+ }
+ else
+ this->pause_time=time;
+}
+
+void CMtnStep::set_step_time(double time)
+{
+ if(time<0.0)
+ {
+ /* handle errors */
+ }
+ else
+ this->step_time=time;
+}
+
+unsigned short int CMtnStep::get_angle(unsigned int servo)
+{
+ if(servo>this->angles.size())
+ {
+ /* handler errors */
+ }
+ else
+ return this->angles[servo];
+}
+
+std::vector<unsigned short int> CMtnStep::get_angles(void)
+{
+ return this->angles;
+}
+
+double CMtnStep::get_pause_time(void)
+{
+ return this->pause_time;
+}
+
+double CMtnStep::get_step_time(void)
+{
+ return this->step_time;
+}
+
+CMtnStep::~CMtnStep()
+{
+ this->angles.clear();
+ this->pause_time=0.0;
+ this->step_time=0.0;
+}
+
diff --git a/src/parser/mtn_step.h b/src/parser/mtn_step.h
new file mode 100644
index 0000000..f85b4f1
--- /dev/null
+++ b/src/parser/mtn_step.h
@@ -0,0 +1,25 @@
+#ifndef _MTN_STEP_H
+#define _MTN_STEP_H
+
+#include <vector>
+
+class CMtnStep
+{
+ private:
+ std::vector<unsigned short int> angles;
+ double pause_time;
+ double step_time;
+ public:
+ CMtnStep(unsigned int num_servos);
+ void set_angle(unsigned int servo,unsigned short int angle);
+ void set_angles(std::vector<unsigned short int> &angles);
+ void set_pause_time(double time);
+ void set_step_time(double time);
+ unsigned short int get_angle(unsigned int servo);
+ std::vector<unsigned short int> get_angles(void);
+ double get_pause_time(void);
+ double get_step_time(void);
+ ~CMtnStep();
+};
+
+#endif
--
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