Reintroduce robotSimu.

    RobotSimu now derives from Device.

include/sot/core/device.hh

@@ -97,8 +97,8 @@ namespace dynamicgraph {
       dynamicgraph::Signal<ml::Vector,int> ZMPPreviousControllerSOUT;
 
     public: /* --- COMMANDS --- */
-      void commandLine(const std::string& cmdLine,std::istringstream& cmdArgs,
-		       std::ostream& os){}
+      void commandLine(const std::string&, std::istringstream&,
+		       std::ostream&){}
 
     };
   } // namespace sot

src/CMakeLists.txt

@@ -73,7 +73,7 @@ SET(plugins
 	tools/timer
 	tools/seq-play
 	tools/sequencer
-	tools/device
+	tools/robot-simu
 	tools/motion-period
 	tools/neck-limitation
 	tools/mailbox-vector
@@ -144,6 +144,7 @@ SET(${LIBRARY_NAME}_SOURCES
 
 	tools/utils-windows
 	tools/periodic-call
+	tools/device
 )
 
 ADD_LIBRARY(${LIBRARY_NAME}

src/dynamic_graph/sot/core/__init__.py

-from device import Device
+from robot_simu import RobotSimu
 from unary_op import RPYToMatrix, MatrixHomoToPoseRollPitchYaw
 from feature_point6d import FeaturePoint6d
 from feature_position import FeaturePosition
@@ -12,7 +12,7 @@ from constraint import Constraint
 from gain_adaptive import GainAdaptive
 from sot import SOT
 
-Device('')
+RobotSimu('')
 RPYToMatrix('')
 MatrixHomoToPoseRollPitchYaw('')
 FeaturePoint6d('')

src/tools/device.cpp

@@ -31,12 +31,11 @@ using namespace std;
 
 #include <dynamic-graph/factory.h>
 #include <dynamic-graph/all-commands.h>
+
 using namespace dynamicgraph::sot;
 using namespace dynamicgraph;
 
-
-DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(Device, "Device");
-
+const std::string Device::CLASS_NAME = "Device";
 
 /* --------------------------------------------------------------------- */
 /* --- CLASS ----------------------------------------------------------- */
@@ -139,24 +138,14 @@ Device( const std::string& n )
 
   /* --- Commands --- */
   {
-    using namespace dynamicgraph::command;
     std::string docstring;
-    /* Command increment. */
-    docstring =
-      "\n"
-      "    Integrate dynamics for time step provided as input\n"
-      "\n"
-      "      take one floating point number as input\n"
-      "\n";
-    addCommand("increment",
-	       makeCommandVoid1( *this,&Device::increment,docstring));
     /* Command setStateSize. */
     docstring =
       "\n"
       "    Set size of state vector\n"
       "\n";
     addCommand("resize",
-	       new Setter<Device, unsigned int>
+	       new command::Setter<Device, unsigned int>
 	       (*this, &Device::setStateSize, docstring));
     /* Command set. */
     docstring =
@@ -164,7 +153,7 @@ Device( const std::string& n )
       "    Set state vector value\n"
       "\n";
     addCommand("set",
-	       new Setter<Device, Vector>
+	       new command::Setter<Device, Vector>
 	       (*this, &Device::setState, docstring));
   }
 }
@@ -225,12 +214,8 @@ increment( const double & dt )
 
   ml::Vector zmp(3); zmp.fill( .0 );
   ZMPPreviousControllerSOUT .setConstant( zmp );
-
-
 }
 
-
-
 /* --- DISPLAY ------------------------------------------------------------ */
 
 void Device::display ( std::ostream& os ) const