/* Purpose: To remove a component according to user input
* Pre: Current layer exists,
* stringstream with x position and y position
* Post: Removes component at given position
* Author: Matthew James Harrison
******************************************************************************/
void removeComponent(Layer &layer, StartingList &startingList, stringstream &ss)
{
string data = "";
int xPos = -1;
int yPos = -1;
/* Get command data */
xPos = readNumber(ss);
yPos = readNumber(ss);
/* If no junk data */
if (!hasJunk(ss))
{
/* If type and position are valid */
if (isPosition(layer, xPos, yPos))
{
removeComponent(layer, startingList, xPos, yPos);
}
else
{
displayMessage(MSG_INV_REMOVE);
}
}
else
{
displayMessage(MSG_INV_REMOVE);
}
}
/* Purpose: To add a component according to user input
* Pre: Current layer exists,
* stringstream with component type, x position, and y position
* Post: Adds component of given type at given position
* Author: Matthew James Harrison
******************************************************************************/
void addComponent(Layer &layer, StartingList &startingList, stringstream &ss)
{
string data = "";
ComponentType type = EMPTY;
int xPos = -1;
int yPos = -1;
/* Get command data */
type = readComponentType(ss);
xPos = readNumber(ss);
yPos = readNumber(ss);
/* If no junk data */
if (!hasJunk(ss))
{
/* If type and position are valid */
if (isPosition(layer, xPos, yPos) && type != EMPTY)
{
addComponent(layer, startingList, type, xPos, yPos);
}
else
{
displayMessage(MSG_INV_ADD);
}
}
}
JointState::MODE JointState::getMode() const
{
if (isPosition()) return POSITION;
else if (isSpeed()) return SPEED;
else if (isEffort()) return EFFORT;
else if (isRaw()) return RAW;
else if (isAcceleration()) return ACCELERATION;
else if (hasPosition() || hasSpeed() || hasEffort() || hasRaw() || hasAcceleration())
throw std::runtime_error("getMode() called on a JointState that has more than one field set");
else
return UNSET;
}
