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cms_pm.cc

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/**************************************************************************
* File: cms_pm.cc                                                         *
* Provides CMS update functions for the POSEMATH classes.                 *
**************************************************************************/

#include "cms.hh"               // class CMS
#include "posemath.h"           // POSEMATH classes

// translation types
CMS_STATUS
CMS::update (PM_CARTESIAN & Cart)
{
  update (Cart.x);
  update (Cart.y);
  update (Cart.z);
  return (status);
}

CMS_STATUS
CMS::update (PM_CARTESIAN * x, int n)
{
  int i;
  for (i = 0; i < n; i++)
    {
      update (x[i]);
    }
  return (status);
}

CMS_STATUS
CMS::update (PM_SPHERICAL & Sph)
{
  update (Sph.theta);
  update (Sph.phi);
  update (Sph.r);
  return (status);
}

CMS_STATUS
CMS::update (PM_SPHERICAL * x, int n)
{
  int i;
  for (i = 0; i < n; i++)
    {
      update (x[i]);
    }
  return (status);
}

CMS_STATUS
CMS::update (PM_CYLINDRICAL & Cyl)
{
  update (Cyl.theta);
  update (Cyl.r);
  update (Cyl.z);
  return (status);
}

CMS_STATUS
CMS::update (PM_CYLINDRICAL * x, int n)
{
  int i;
  for (i = 0; i < n; i++)
    {
      update (x[i]);
    }
  return (status);
}

  // rotation types
CMS_STATUS
CMS::update (PM_ROTATION_VECTOR & Rot)
{
  update (Rot.s);
  update (Rot.x);
  update (Rot.y);
  update (Rot.z);
  return (status);
}

CMS_STATUS
CMS::update (PM_ROTATION_VECTOR * x, int n)
{
  int i;
  for (i = 0; i < n; i++)
    {
      update (x[i]);
    }
  return (status);
}



CMS_STATUS
CMS::update (PM_ROTATION_MATRIX & Mat)
{
  update (Mat.x);
  update (Mat.y);
  update (Mat.z);
  return (status);
}

CMS_STATUS
CMS::update (PM_ROTATION_MATRIX * x, int n)
{
  int i;
  for (i = 0; i < n; i++)
    {
      update (x[i]);
    }
  return (status);
}

CMS_STATUS
CMS::update (PM_QUATERNION & Quat)
{
  update (Quat.s);
  update (Quat.x);
  update (Quat.y);
  update (Quat.z);
  return (status);
}

CMS_STATUS
CMS::update (PM_QUATERNION * x, int n)
{
  int i;
  for (i = 0; i < n; i++)
    {
      update (x[i]);
    }
  return (status);
}


CMS_STATUS
CMS::update (PM_EULER_ZYZ & Zyz)
{
  update (Zyz.z);
  update (Zyz.y);
  update (Zyz.zp);
  return (status);
}

CMS_STATUS
CMS::update (PM_EULER_ZYZ * x, int n)
{
  int i;
  for (i = 0; i < n; i++)
    {
      update (x[i]);
    }
  return (status);
}


CMS_STATUS
CMS::update (PM_EULER_ZYX & Zyx)
{
  update (Zyx.z);
  update (Zyx.y);
  update (Zyx.x);
  return (status);
}

CMS_STATUS
CMS::update (PM_EULER_ZYX * x, int n)
{
  int i;
  for (i = 0; i < n; i++)
    {
      update (x[i]);
    }
  return (status);
}

CMS_STATUS
CMS::update (PM_RPY & Rpy)
{
  update (Rpy.r);
  update (Rpy.p);
  update (Rpy.y);
  return (status);
}

CMS_STATUS
CMS::update (PM_RPY * x, int n)
{
  int i;
  for (i = 0; i < n; i++)
    {
      update (x[i]);
    }
  return (status);
}

  // pose types
CMS_STATUS
CMS::update (PM_POSE & Pose)
{
  update (Pose.tran);
  update (Pose.rot);
  return (status);
}

CMS_STATUS
CMS::update (PM_POSE * x, int n)
{
  int i;
  for (i = 0; i < n; i++)
    {
      update (x[i]);
    }
  return (status);
}


CMS_STATUS
CMS::update (PM_HOMOGENEOUS & Hom)
{
  update (Hom.tran);
  update (Hom.rot);
  return (status);
}

CMS_STATUS
CMS::update (PM_HOMOGENEOUS * x, int n)
{
  int i;
  for (i = 0; i < n; i++)
    {
      update (x[i]);
    }
  return (status);
}

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