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Guilhem Saurel
sot-hrp2
Commits
58ca58d5
Commit
58ca58d5
authored
Jul 13, 2017
by
Rohan Budhiraja
Browse files
[sot-hrp2-controller] add function to change the device control type
parent
40d18256
Changes
2
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src/sot-hrp2-controller.cpp
View file @
58ca58d5
...
...
@@ -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
View file @
58ca58d5
...
...
@@ -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_
;
...
...
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