Add commands SetConstant and Set to GainAdaptive

    * include/sot-core/gain-adaptive.h,
    * src/task/gain-adaptive-command.h: new,
    * src/task/gain-adaptive.cpp.

include/sot-core/gain-adaptive.h

@@ -106,6 +106,8 @@ class SOTGAINADAPTATIVE_EXPORT GainAdaptive
  public: /* --- PARAMS --- */
   virtual void commandLine( const std::string& cmdLine,std::istringstream& cmdArgs,
 			    std::ostream& os );
+ private:
+  void addCommands();
 };
 
 } // namespace sot

src/task/gain-adaptive-command.h

+/*
+ * Copyright 2010,
+ * Florent Lamiraux
+ *
+ * CNRS
+ *
+ * This file is part of sot-core.
+ * sot-core is free software: you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public License
+ * as published by the Free Software Foundation, either version 3 of
+ * the License, or (at your option) any later version.
+ * sot-core is distributed in the hope that it will be
+ * useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+ * of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU Lesser General Public License for more details.  You should
+ * have received a copy of the GNU Lesser General Public License along
+ * with sot-core.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#ifndef GAIN_ADAPTIVE_COMMAND_H
+ #define GAIN_ADAPTIVE_COMMAND_H
+
+ #include <boost/assign/list_of.hpp>
+
+ #include <dynamic-graph/command.h>
+ #include <dynamic-graph/command-setter.h>
+ #include <dynamic-graph/command-getter.h>
+
+namespace sot {
+  namespace command {
+    namespace gainAdaptive {
+      using ::dynamicgraph::command::Command;
+      using ::dynamicgraph::command::Value;
+      
+      // Command SetConstant
+      class SetConstant : public Command
+      {
+      public:
+	virtual ~SetConstant() {}
+	/// Create command and store it in Entity
+	/// \param entity instance of Entity owning this command
+	/// \param docstring documentation of the command
+      SetConstant(GainAdaptive& entity, const std::string& docstring) :
+	Command(entity, boost::assign::list_of(Value::DOUBLE), docstring)
+	  {
+	  }
+	virtual Value doExecute()
+	{
+	  GainAdaptive& gainAdaptive = static_cast<GainAdaptive&>(owner());
+	  std::vector<Value> values = getParameterValues();
+	  double gain = values[0].value();
+	  gainAdaptive.init(gain);
+	  // return void
+	  return Value();
+	}
+      }; // class SetConstant
+
+      // Command Set
+      class Set : public Command
+      {
+      public:
+	virtual ~Set() {}
+	/// Create command and store it in Entity
+	/// \param entity instance of Entity owning this command
+	/// \param docstring documentation of the command
+      Set(GainAdaptive& entity, const std::string& docstring) :
+	Command(entity, boost::assign::list_of(Value::DOUBLE)(Value::DOUBLE)
+		(Value::DOUBLE), docstring)
+	  {
+	  }
+	virtual Value doExecute()
+	{
+	  GainAdaptive& gainAdaptive = static_cast<GainAdaptive&>(owner());
+	  std::vector<Value> values = getParameterValues();
+	  double c0 = values[0].value();
+	  double cinf = values[1].value();
+	  double p0 = values[2].value();
+	  gainAdaptive.init(c0, cinf, p0);
+	  // return void
+	  return Value();
+	}
+      }; // class Set
+    } // namespace gainAdaptive
+  } // namespace command
+} //namespace sot
+
+#endif //GAIN_ADAPTIVE_COMMAND_H

src/task/gain-adaptive.cpp

@@ -29,6 +29,8 @@
 #include <sot-core/factory.h>
 #include <sot-core/exception-signal.h>
 
+#include "../src/task/gain-adaptive-command.h"
+
 using namespace sot;
 using namespace dynamicgraph;
 
@@ -55,7 +57,31 @@ Entity(name) \
 ,gainSOUT( boost::bind(&GainAdaptive::computeGain,this,_1,_2), \
 	   errorSIN,"sotGainAdaptive("+name+")::output(double)::gain" )
 
+void GainAdaptive::addCommands()
+{
+  std::string docstring;
+  // Command SetConstant
+  docstring = "    \n"
+    "    setConstant\n"
+    "      Input:\n"
+    "        floating point value: value at 0. Other values are set to"
+    "default.\n"
+    "    \n";
+  addCommand("setConstant",
+	     new command::gainAdaptive::SetConstant(*this, docstring));
+
+  // Command Set
+  docstring = "    \n"
+    "    set\n"
+    "      Input:\n"
+    "        floating point value: value at 0,\n"
+    "        floating point value: value at infinity,\n"
+    "        floating point value: value at slope,\n"
+    "    \n";
+  addCommand("set",
+	     new command::gainAdaptive::SetConstant(*this, docstring));
 
+}
 
 GainAdaptive::
 GainAdaptive( const std::string & name )
@@ -64,6 +90,7 @@ GainAdaptive( const std::string & name )
   sotDEBUG(15) << "New gain <"<<name<<">"<<std::endl;
   init();
   Entity::signalRegistration( gainSOUT<<errorSIN );
+  addCommands();
 }
 
 
@@ -73,6 +100,7 @@ GainAdaptive( const std::string & name,const double& lambda )
 {
   init(lambda);
   Entity::signalRegistration( gainSOUT );
+  addCommands();
 }
 
 GainAdaptive::
@@ -84,6 +112,7 @@ GainAdaptive( const std::string & name,
 {
   init(valueAt0,valueAtInfty,tanAt0);
   Entity::signalRegistration( gainSOUT );
+  addCommands();
 }