Merge pull request #31 from ksyy/master

Added createVelocity command

include/sot-dynamic-pinocchio/dynamic-pinocchio.h

@@ -253,6 +253,8 @@ class SOTDYNAMIC_EXPORT DynamicPinocchio
   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 );
+  void cmd_createVelocitySignal           ( const std::string& sig,const std::string& j );
+  void cmd_createAccelerationSignal       ( const std::string& sig,const std::string& j );
 
  private:
   /// \brief map of joints in construction.

src/sot-dynamic-pinocchio.cpp

@@ -210,6 +210,17 @@ DynamicPinocchio( const std::string & name)
 				"string (signal name)","string (joint name)");
     addCommand("createPosition",
 	       makeCommandVoid2(*this,&DynamicPinocchio::cmd_createPositionSignal,docstring));
+	  
+    docstring = docCommandVoid2("Create a velocity (vector) signal only for one joint.",
+				"string (signal name)","string (joint name)");
+    addCommand("createVelocity",
+	       makeCommandVoid2(*this,&DynamicPinocchio::cmd_createVelocitySignal,docstring));
+ 
+    docstring = docCommandVoid2("Create an acceleration (vector) signal only for one joint.",
+				"string (signal name)","string (joint name)");
+    addCommand("createAcceleration",
+	       makeCommandVoid2(*this,&DynamicPinocchio::cmd_createAccelerationSignal,docstring));
+
   }
 
 
@@ -559,7 +570,7 @@ createAccelerationSignal( const std::string& signame, const std::string& jointNa
     = new dg::SignalTimeDependent< dg::Vector,int >
     ( boost::bind(&DynamicPinocchio::computeGenericAcceleration,this,jointId,_1,_2),
       forwardKinematicsSINTERN,
-      "sotDynamicPinocchio("+name+")::output(matrixHomo)::"+signame );
+      "sotDynamicPinocchio("+name+")::output(dg::Vector)::"+signame );
 
   genericSignalRefs.push_back( sig );
   signalRegistration( *sig );
@@ -1172,3 +1183,13 @@ void DynamicPinocchio::cmd_createPositionSignal( const std::string& signalName,
 {
     createPositionSignal(signalName, jointName);
 }
+void DynamicPinocchio::cmd_createVelocitySignal( const std::string& signalName,
+          				const std::string& jointName )
+{
+    createVelocitySignal(signalName, jointName);
+}
+void DynamicPinocchio::cmd_createAccelerationSignal( const std::string& signalName,
+          				const std::string& jointName )
+{
+    createAccelerationSignal(signalName, jointName);
+}