Make methods of Device virtuals so that they can be overloaded by subclasses

include/sot/core/device.hh

@@ -48,17 +48,17 @@ namespace dynamicgraph {
     public:
       static const std::string CLASS_NAME;
       virtual const std::string& getClassName(void) const {
-	return CLASS_NAME;
+    return CLASS_NAME;
       }
-      
+
       enum ForceSignalSource
       {
-	FORCE_SIGNAL_RLEG,
-	FORCE_SIGNAL_LLEG,
-	FORCE_SIGNAL_RARM,
-	FORCE_SIGNAL_LARM
+    FORCE_SIGNAL_RLEG,
+    FORCE_SIGNAL_LLEG,
+    FORCE_SIGNAL_RARM,
+    FORCE_SIGNAL_LARM
       };
-      
+
     protected:
       ml::Vector state_;
       ml::Vector velocity_;
@@ -69,24 +69,24 @@ namespace dynamicgraph {
       PeriodicCall periodicCallBefore_;
       PeriodicCall periodicCallAfter_;
     public:
-      
+
       /* --- CONSTRUCTION --- */
       Device(const std::string& name);
       /* --- DESTRUCTION --- */
       virtual ~Device();
-      
-      void setStateSize(const unsigned int& size);
-      void setState(const ml::Vector& st);
+
+      virtual void setStateSize(const unsigned int& size);
+      virtual void setState(const ml::Vector& st);
       void setVelocitySize(const unsigned int& size);
-      void setVelocity(const ml::Vector & vel);
-      void setSecondOrderIntegration();
-      void increment(const double & dt = 5e-2);
-      
+      virtual void setVelocity(const ml::Vector & vel);
+      virtual void setSecondOrderIntegration();
+      virtual void increment(const double & dt = 5e-2);
+
     public: /* --- DISPLAY --- */
       virtual void display(std::ostream& os) const;
       SOT_CORE_EXPORT friend std::ostream&
-	operator<<(std::ostream& os,const Device& r) {
-	r.display(os); return os;
+    operator<<(std::ostream& os,const Device& r) {
+    r.display(os); return os;
       }
 
     public: /* --- SIGNALS --- */
@@ -110,11 +110,11 @@ namespace dynamicgraph {
 
     public: /* --- COMMANDS --- */
       void commandLine(const std::string&, std::istringstream&,
-		       std::ostream&){}
+               std::ostream&){}
     protected:
       /// Compute roll pitch yaw angles of freeflyer joint.
       void integrateRollPitchYaw(ml::Vector& state, const ml::Vector& control,
-				 double dt);
+                 double dt);
       /// Store Position of free flyer joint
       MatrixHomogeneous ffPose_;
       /// Compute the new position, from the current control.
@@ -123,8 +123,8 @@ namespace dynamicgraph {
       /// Get freeflyer pose
       const MatrixHomogeneous& freeFlyerPose() const;
     public:
-      void setRoot( const ml::Matrix & root );
-      void setRoot( const MatrixHomogeneous & worldMwaist );
+      virtual void setRoot( const ml::Matrix & root );
+      virtual void setRoot( const MatrixHomogeneous & worldMwaist );
     private:
       // Intermediate variable to avoid dynamic allocation
       ml::Vector forceZero6;
@@ -134,7 +134,3 @@ namespace dynamicgraph {
 
 
 #endif /* #ifndef SOT_DEVICE_HH */
-
-
-
-