Modify the writting of new-style commands.

include/sot-core/robot-simu.h

@@ -83,7 +83,7 @@ class SOTROBOTSIMU_EXPORT RobotSimu
 
   void setStateSize( const unsigned int& size );
   void setState( const ml::Vector& st );
-  void increment( const double dt = 5e-2 );
+  void increment( const double & dt = 5e-2 );
 
 
 

src/tools/robot-simu-command.h

-/*
- * Copyright 2010,
- * Florent Lamiraux
- *
- * CNRS/AIST
- *
- * 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 ROBOT_SIMU_COMMAND_H
- #define ROBOT_SIMU_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 {
-    using ::dynamicgraph::command::Command;
-    using ::dynamicgraph::command::Value;
-  
-    // Command Increment
-    class Increment : public Command
-    {
-    public:
-      virtual ~Increment() {}
-      /// Create command and store it in Entity
-      /// \param entity instance of Entity owning this command
-      /// \param docstring documentation of the command
-      Increment(RobotSimu& entity, const std::string& docstring) :
-	Command(entity, boost::assign::list_of(Value::DOUBLE), docstring)
-      {
-      }
-      virtual Value doExecute()
-      {
-	RobotSimu& rs = static_cast<RobotSimu&>(owner());
-	std::vector<Value> values = getParameterValues();
-	double timeStep = values[0].value();
-	rs.increment(timeStep);
-	// return void
-	return Value();
-      }
-    }; // class Increment
-  } // namespace command
-} //namespace sot
-
-#endif //ROBOT_SIMU_COMMAND_H

src/tools/robot-simu.cpp

@@ -31,6 +31,7 @@
 using namespace std;
 
 #include <dynamic-graph/factory.h>
+#include <dynamic-graph/command-bind.h>
 using namespace sot;
 using namespace dynamicgraph;
 
@@ -121,7 +122,7 @@ RobotSimu( const std::string& n )
    ,motorcontrolSOUT( "RobotSimu("+n+")::output(vector)::motorcontrol" )
    ,ZMPPreviousControllerSOUT( "RobotSimu("+n+")::output(vector)::zmppreviouscontroller" )
 {
-  /* --- FORCES --- */
+  /* --- SIGNALS --- */
   for( int i=0;i<4;++i ){ withForceSignals[i] = false; }
   forcesSOUT[0] =
     new Signal<ml::Vector, int>("OpenHRP::output(vector6)::forceRLEG");
@@ -137,11 +138,10 @@ RobotSimu( const std::string& n )
 		      <<previousControlSOUT <<pseudoTorqueSOUT
 		      << motorcontrolSOUT << ZMPPreviousControllerSOUT );
   state.fill(.0); stateSOUT.setConstant( state );
-  //
-  // Commands
-  //
+
+  /* --- Commands --- */
   std::string docstring;
-  // Increment
+  /* Command increment. */
   docstring =
     "\n"
     "    Integrate dynamics for time step provided as input\n"
@@ -149,16 +149,16 @@ RobotSimu( const std::string& n )
     "      take one floating point number as input\n"
     "\n";
   addCommand("increment",
-	     new command::Increment(*this, docstring));
-  // setStateSize
+	     ::dynamicgraph::command::makeCommandVoid1( *this,&RobotSimu::increment,docstring));
+  /* Command setStateSize. */
   docstring =
     "\n"
     "    Set size of state vector\n"
     "\n";
   addCommand("resize",
-	     new ::dynamicgraph::command::Setter<RobotSimu, unsigned>
+	     new ::dynamicgraph::command::Setter<RobotSimu, unsigned int>
 	     (*this, &RobotSimu::setStateSize, docstring));
-  // set
+  /* Command set. */
   docstring =
     "\n"
     "    Set state vector value\n"
@@ -190,7 +190,7 @@ setState( const ml::Vector& st )
 }
 
 void RobotSimu::
-increment( const double dt )
+increment( const double & dt )
 {
   sotDEBUG(25) << "Time : " << controlSIN.getTime()+1 << std::endl;