From d761866d520da49471b19ef64ad8b32c121d1c38 Mon Sep 17 00:00:00 2001
From: Florent Lamiraux <florent@laas.fr>
Date: Mon, 14 Feb 2011 14:23:53 +0100
Subject: [PATCH] Reintroduce robotSimu.
RobotSimu now derives from Device.
---
include/sot/core/device.hh | 4 ++--
src/CMakeLists.txt | 3 ++-
src/dynamic_graph/sot/core/__init__.py | 4 ++--
src/tools/device.cpp | 23 ++++-------------------
4 files changed, 10 insertions(+), 24 deletions(-)
diff --git a/include/sot/core/device.hh b/include/sot/core/device.hh
index f1941a58..4aca1bf3 100644
--- a/include/sot/core/device.hh
+++ b/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
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 713f1a0a..4abd5866 100644
--- a/src/CMakeLists.txt
+++ b/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}
diff --git a/src/dynamic_graph/sot/core/__init__.py b/src/dynamic_graph/sot/core/__init__.py
index 4fc98dbc..868fdc21 100644
--- a/src/dynamic_graph/sot/core/__init__.py
+++ b/src/dynamic_graph/sot/core/__init__.py
@@ -1,4 +1,4 @@
-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('')
diff --git a/src/tools/device.cpp b/src/tools/device.cpp
index 779e1145..8d93676f 100644
--- a/src/tools/device.cpp
+++ b/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
--
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