Publish a4

1 files changed, 64 insertions, 0 deletions

diff --git a/dev/a4-dance/rotation_bounds.cc b/dev/a4-dance/rotation_bounds.cc
new file mode 100644
index 0000000..a83b1ce
--- /dev/null
+++ b/dev/a4-dance/rotation_bounds.cc
@@ -0,0 +1,64 @@
+#include "rotation_bounds.h"
+#include <cstdlib>
+
+RotationBounds::RotationBounds() {
+  dofRX = false;
+  dofRY = false;
+  dofRZ = false;
+  minRX = 0;
+  maxRX = 0;
+  minRY = 0;
+  maxRY = 0;
+  minRZ = 0;
+  maxRZ = 0;
+  dofs = 0;
+}
+
+void RotationBounds::setdof(bool rx, bool ry, bool rz) {
+  dofRX = rx;
+  dofRY = ry;
+  dofRZ = rz;
+  dofs = rx + ry + rz;
+}
+
+void RotationBounds::setR(int index, float min, float max) {
+  if (index > dofs) {
+    std::abort(); // Trying to set past the max index.
+  }
+  if (index == 0) {
+    if (dofRX) {
+      minRX = min;
+      maxRX = max;
+    } else if (dofRY) {
+      minRY = min;
+      maxRY = max;
+    } else if (dofRZ) {
+      minRZ = min;
+      maxRZ = max;
+    } else {
+      abort();
+    }
+  } else if (index == 1) {
+    if (dofRX && dofRY) {
+      minRY = min;
+      maxRY = max;
+    } else if (dofRX && dofRZ) {
+      minRZ = min;
+      maxRZ = max;
+    } else if (dofRY && dofRZ) {
+      minRZ = min;
+      maxRZ = max;
+    } else {
+      abort();
+    }
+  } else if (index == 2) {
+    if (dofRX && dofRY && dofRZ) {
+      minRZ = min;
+      maxRZ = max;
+    } else {
+      abort();
+    }
+  } else {
+    abort();
+  }
+}
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