[sot-hrp2-controller] add function to change the device control type

src/sot-hrp2-controller.cpp

@@ -70,6 +70,11 @@ setupSetSensors(map<string,dgsot::SensorValues> &SensorsIn)
   device_.setupSetSensors(SensorsIn);
 }
 
+void SoTHRP2Controller::
+setSecondOrderIntegration(void)
+{
+  device_.setSecondOrderIntegration();
+}
 
 void SoTHRP2Controller::
 nominalSetSensors(map<string,dgsot::SensorValues> &SensorsIn)
@@ -148,5 +153,3 @@ startupPython()
 
   aof.close();
 }
-
-

src/sot-hrp2-controller.hh

@@ -48,6 +48,8 @@ class SoTHRP2Controller: public
 
   void getControl(std::map<std::string, dgsot::ControlValues> &anglesOut);
 
+  void setSecondOrderIntegration(void);
+
   /// Embedded python interpreter accessible via Corba
   boost::shared_ptr<dynamicgraph::Interpreter> interpreter_;