Commit 58ca58d5 authored by Rohan Budhiraja's avatar Rohan Budhiraja

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

parent 40d18256
......@@ -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();
}
......@@ -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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