/*luadoc
@function model.getInputsCount(input)
Returns number of lines for given input
@param input (unsigned number) input number (use 0 for Input1)
@retval number number of configured lines for given input
@status current Introduced in 2.0.0
*/
static int luaModelGetInputsCount(lua_State *L)
{
unsigned int chn = luaL_checkunsigned(L, 1);
int count = getInputsCount(chn);
lua_pushinteger(L, count);
return 1;
}
vect_n<double> manipulator_dynamics_model::getInput() const {
vect_n<double> result(getInputsCount());
unsigned int i = 0;
for(std::vector< shared_ptr<system_input> >::const_iterator it = mInputs.begin(); it != mInputs.end(); ++it)
for(unsigned int k = 0; k < (*it)->getInputCount(); ++k)
result[i++] = (*it)->getInput(k);
return result;
};
void RK_CALL manipulator_dynamics_model::setInput(const ReaK::vect_n<double>& aInput) {
if(aInput.size() != getInputsCount())
throw std::range_error("The size of the input-vector to the manipulator model is not correct!");
unsigned int i = 0;
for(std::vector< shared_ptr<system_input> >::iterator it = mInputs.begin(); it != mInputs.end(); ++it)
for(unsigned int k = 0; k < (*it)->getInputCount(); ++k)
(*it)->setInput(k,aInput[i++]);
};