Added three commands to create jacobian and position signals alone.

include/sot-dynamic/dynamic.h

@@ -238,6 +238,10 @@ class SOTDYNAMIC_EXPORT Dynamic
   virtual void commandLine( const std::string& cmdLine,
 			    std::istringstream& cmdArgs,
 			    std::ostream& os );
+  void cmd_createOpPointSignals           ( const std::string& sig,const std::string& j );
+  void cmd_createJacobianWorldSignal      ( const std::string& sig,const std::string& j );
+  void cmd_createJacobianEndEffectorSignal( const std::string& sig,const std::string& j );
+  void cmd_createPositionSignal           ( const std::string& sig,const std::string& j );
 
  public:
   /// \name Construction of a robot by commands
@@ -352,6 +356,8 @@ class SOTDYNAMIC_EXPORT Dynamic
   /// \brief map of joints in construction.
   std::map<std::string, CjrlJoint*> jointMap_;
   djj::ObjectFactory factory_;
+  /// Return a specific joint, being given a name by string inside a short list.
+  CjrlJoint* getJointByName( const std::string& jointName );
 
 };
 

src/dynamic-command.h

@@ -84,55 +84,6 @@ namespace sot {
       }
     }; // class Parse
 
-    // Command CreateOpPoint
-    class CreateOpPoint : public Command
-    {
-    public:
-      virtual ~CreateOpPoint() {}
-      /// Create command and store it in Entity
-      /// \param entity instance of Entity owning this command
-      /// \param docstring documentation of the command
-      CreateOpPoint(Dynamic& entity, const std::string& docstring) :
-	Command(entity, boost::assign::list_of(Value::STRING)(Value::STRING),
-		docstring)
-      {
-      }
-      virtual Value doExecute()
-      {
-	Dynamic& robot = static_cast<Dynamic&>(owner());
-	std::vector<Value> values = getParameterValues();
-	std::string opPointName = values[0].value();
-	std::string jointName = values[1].value();
-	CjrlJoint* joint = NULL;
-	if (jointName ==  "gaze") {
-	  joint = robot.m_HDR->gazeJoint();
-	} else if (jointName == "left-ankle") {
-	  joint = robot.m_HDR->leftAnkle();
-	} else if (jointName == "right-ankle") {
-	  joint = robot.m_HDR->rightAnkle();
-	} else if (jointName == "left-wrist") {
-	  joint = robot.m_HDR->leftWrist();
-	} else if (jointName == "right-wrist") {
-	  joint = robot.m_HDR->rightWrist();
-	} else if (jointName == "waist") {
-	  joint = robot.m_HDR->waist();
-	} else if (jointName == "chest") {
-	  joint = robot.m_HDR->chest();
-	} else if (jointName == "gaze") {
-	  joint = robot.m_HDR->gazeJoint();
-	} else {
-	  throw ExceptionDynamic(ExceptionDynamic::GENERIC,
-				 jointName + " is not a valid name."
-				 " Valid names are \n"
-				 "gaze, left-ankle, right-ankle, left-wrist,"
-				 " right-wrist, waist, chest.");
-	}
-	robot.createEndeffJacobianSignal(std::string("J")+opPointName, joint);
-	robot.createPositionSignal(opPointName, joint);
-	return Value();
-      }
-    }; // class CreateOpPoint
-
     // Command SetProperty
     class SetProperty : public Command
     {

src/dynamic.cpp

@@ -18,21 +18,22 @@
  * with sot-dynamic.  If not, see <http://www.gnu.org/licenses/>.
  */
 
+#include <sot-core/debug.h>
+#include <sot-dynamic/dynamic.h>
+
 #include <boost/filesystem.hpp>
 #include <boost/format.hpp>
 
 #include <jrl/mal/matrixabstractlayer.hh>
-
-#include <sot-dynamic/dynamic.h>
-#include <sot-core/debug.h>
-
 #include <abstract-robot-dynamics/humanoid-dynamic-robot.hh>
 #include <abstract-robot-dynamics/robot-dynamics-object-constructor.hh>
 
 #include <dynamic-graph/factory.h>
+#include <dynamic-graph/all-commands.h>
 
 #include "../src/dynamic-command.h"
 
+
 using namespace sot;
 using namespace dynamicgraph;
 
@@ -178,16 +179,38 @@ Dynamic( const std::string & name, bool build )
     addCommand("parse",
 	       new command::Parse(*this, docstring));
 
-    // CreateOpPoint
-    docstring = "    \n"
-      "    Create an operational point attached to a robot joint local frame.\n"
-      "    \n"
-      "      Input: \n"
-      "        - a string: name of the operational point,\n"
-      "        - a string: name the joint, among (gaze, left-ankle, right ankle\n"
-      "          , left-wrist, right-wrist, waist, chest).\n"
-      "\n";
-    addCommand("createOpPoint", new command::CreateOpPoint(*this, docstring));
+    {
+      using namespace ::dynamicgraph::command;
+      // CreateOpPoint
+      docstring = "    \n"
+	"    Create an operational point attached to a robot joint local frame.\n"
+	"    \n"
+	"      Input: \n"
+	"        - a string: name of the operational point,\n"
+	"        - a string: name the joint, among (gaze, left-ankle, right ankle\n"
+	"          , left-wrist, right-wrist, waist, chest).\n"
+	"\n";
+      addCommand("createOpPoint",
+		 makeCommandVoid2(*this,&Dynamic::cmd_createOpPointSignals,
+				  docstring));
+
+      docstring = docCommandVoid2("Create a jacobian (world frame) signal only for one joint.",
+				  "string (signal name)","string (joint name)");
+      addCommand("createJacobian",
+		 makeCommandVoid2(*this,&Dynamic::cmd_createJacobianWorldSignal,
+				  docstring));
+
+      docstring = docCommandVoid2("Create a jacobian (endeff frame) signal only for one joint.",
+				  "string (signal name)","string (joint name)");
+      addCommand("createJacobianEndEff",
+		 makeCommandVoid2(*this,&Dynamic::cmd_createJacobianEndEffectorSignal,
+				  docstring));
+
+      docstring = docCommandVoid2("Create a position (matrix homo) signal only for one joint.",
+				  "string (signal name)","string (joint name)");
+      addCommand("createPosition",
+		 makeCommandVoid2(*this,&Dynamic::cmd_createPositionSignal,docstring));
+    }
 
     // SetProperty
     docstring = "    \n"
@@ -1190,7 +1213,62 @@ getLowerJointLimits(ml::Vector& res, const int&)
   return res;
 }
 
+/* --- COMMANDS ------------------------------------------------------------- */
+/* --- COMMANDS ------------------------------------------------------------- */
+/* --- COMMANDS ------------------------------------------------------------- */
 
+CjrlJoint* Dynamic::getJointByName( const std::string& jointName )
+{
+  if (jointName ==  "gaze") {
+    return m_HDR->gazeJoint();
+  } else if (jointName == "left-ankle") {
+    return m_HDR->leftAnkle();
+  } else if (jointName == "right-ankle") {
+    return m_HDR->rightAnkle();
+  } else if (jointName == "left-wrist") {
+    return m_HDR->leftWrist();
+  } else if (jointName == "right-wrist") {
+    return m_HDR->rightWrist();
+  } else if (jointName == "waist") {
+    return m_HDR->waist();
+  } else if (jointName == "chest") {
+    return m_HDR->chest();
+  } else if (jointName == "gaze") {
+    return m_HDR->gazeJoint();
+  } else {
+    throw ExceptionDynamic(ExceptionDynamic::GENERIC,
+			   jointName + " is not a valid name."
+			   " Valid names are \n"
+			   "gaze, left-ankle, right-ankle, left-wrist,"
+			   " right-wrist, waist, chest.");
+  }
+}
+
+void Dynamic::cmd_createOpPointSignals( const std::string& opPointName,
+				 const std::string& jointName )
+{
+  CjrlJoint* joint = getJointByName(jointName);
+  createEndeffJacobianSignal(std::string("J")+opPointName, joint);
+  createPositionSignal(opPointName, joint);
+}
+void Dynamic::cmd_createJacobianWorldSignal( const std::string& signalName,
+				 const std::string& jointName )
+{
+  CjrlJoint* joint = getJointByName(jointName);
+  createJacobianSignal(signalName, joint);
+}
+void Dynamic::cmd_createJacobianEndEffectorSignal( const std::string& signalName,
+					     const std::string& jointName )
+{
+  CjrlJoint* joint = getJointByName(jointName);
+  createEndeffJacobianSignal(signalName, joint);
+}
+void Dynamic::cmd_createPositionSignal( const std::string& signalName,
+					const std::string& jointName )
+{
+  CjrlJoint* joint = getJointByName(jointName);
+  createPositionSignal(signalName, joint);
+}
 
 /* --- PARAMS --------------------------------------------------------------- */
 /* --- PARAMS --------------------------------------------------------------- */