Remove shell

ref https://github.com/stack-of-tasks/sot-core/issues/58

src/controller-pd.cpp

@@ -244,52 +244,6 @@ namespace dynamicgraph
 	  }
 	catch (ExceptionSignal e) {}
       }
-
-      void ControllerPD::
-      commandLine( const std::string& cmdLine,
-		   std::istringstream& cmdArgs,
-		   std::ostream& os )
-      {
-	if( cmdLine == "help" )
-	  {
-	    os << "sotControlPD:\n"
-	       << " - size <arg>\t\tset the size of the vector.\n"
-	       << " - stdGain \t\tset the input vector gains according to the size for HRP2.\n"
-	       << " - velocityonly <arg>\t\tset Kp = 0.\n"
-	       << std::endl;
-	  }
-	else if( cmdLine == "size" )
-	  {
-	    cmdArgs >> std::ws;
-	    if( cmdArgs.good() )
-	      {
-		unsigned int i; cmdArgs >> i ;
-		size(i);
-	      }
-	    else
-	      {
-		os << "size = " << size() << std::endl;
-	      }
-	  }
-	else if( cmdLine == "velocityonly" )
-	  { setGainVelocityOnly(); }
-	else if( cmdLine == "stdGain" )
-	  {
-	    std::string config = "high";
-	    cmdArgs >> std::ws; if( cmdArgs.good() ) cmdArgs >> config;
-	    setStandardGains( config );
-	  }
-	else
-	  {
-	    Entity::commandLine(cmdLine,cmdArgs,os);
-	  }
-      }
-
-
-
-
-
-
     } // namespace dyninv
   } // namespace sot
 } // namespace dynamicgraph

src/controller-pd.h

@@ -74,10 +74,6 @@ namespace dynamicgraph {
 
 	  virtual void display( std::ostream& os ) const;
 
-	  virtual void commandLine( const std::string& cmdLine,
-				    std::istringstream& cmdArgs,
-				    std::ostream& os );
-
 	public:  /* --- SIGNALS --- */
 
 	  DECLARE_SIGNAL_IN(Kp,dg::Vector);

src/dynamic-integrator.cpp

@@ -342,31 +342,6 @@ namespace dynamicgraph
       {
 	os << "DynamicIntegrator "<<getName() << ". " << std::endl;
       }
-
-      void DynamicIntegrator::
-      commandLine( const std::string& cmdLine,
-		   std::istringstream& cmdArgs,
-		   std::ostream& os )
-      {
-	if( cmdLine == "help" )
-	  {
-	    os << "DynamicIntegrator:" << std::endl
-	       << " - inc [dt]" << std::endl;
-	  }
-	else if( cmdLine == "inc" )
-	  {
-	    if( cmdArgs >> std::ws, cmdArgs.good() )
-	      {
-		double dt; cmdArgs >> dt; dtSIN = dt;
-	      }
-	    integrateFromSignals();
-	  }
-	else
-	  {
-	    Entity::commandLine( cmdLine,cmdArgs,os );
-	  }
-      }
-
     } // namespace dyninv
   } // namespace sot
 } // namespace dynamicgraph

src/dynamic-integrator.h

@@ -61,10 +61,6 @@ namespace dynamicgraph {
 
 	  virtual void display( std::ostream& os ) const;
 
-	  virtual void commandLine( const std::string& cmdLine,
-				    std::istringstream& cmdArgs,
-				    std::ostream& os );
-
 	public:  /* --- SIGNALS --- */
 
 	  DECLARE_SIGNAL_IN( acceleration,dg::Vector );

src/pseudo-robot-dynamic.cpp

@@ -218,55 +218,6 @@ namespace dynamicgraph
       {
 	os << "PseudoRobotDynamic "<<getName() << ". " << std::endl;
       }
-
-      void PseudoRobotDynamic::
-      commandLine( const std::string& cmdLine,
-		   std::istringstream& cmdArgs,
-		   std::ostream& os )
-      {
-	sotDEBUGIN(15);
-
-	if( cmdLine == "help" )
-	  {
-	    os << "PseudoRobotDynamic:" << std::endl
-	       << " - replace <OpenHRP> [plug]" << std::endl;
-	  }
-	else if( cmdLine == "replace" )
-	  {
-	    if( cmdArgs >> std::ws, cmdArgs.good() )
-	      {
-		std::string repName; cmdArgs >> repName >> std::ws;
-		bool plug = cmdArgs.good();
-		replaceSimulatorEntity( repName,plug );
-	      }
-	  }
-	else if( cmdLine=="sbs" || cmdLine=="play" || cmdLine =="withForces"
-		 || cmdLine == "periodicCall" || cmdLine == "periodicCallBefore"
-		 || cmdLine == "periodicCallAfter"  )
-	  {
-	    formerOpenHRP ->commandLine( cmdLine,cmdArgs,os );
-	  }
-	else if( cmdLine=="root" )
-	  {
-	    if( cmdArgs >> std::ws, cmdArgs.good() )
-	      {
-		dg::Matrix M; cmdArgs >> M ; setRoot(M);
-		std::ostringstream osback;
-		osback << M.data(); cmdArgs.str(osback.str());
-		formerOpenHRP ->commandLine( cmdLine,cmdArgs,os );
-	      }
-	    else
-	      {
-		os << "TODO" << std::endl;
-	      }
-	  }
-	else
-	  {
-	    Entity::commandLine( cmdLine,cmdArgs,os );
-	  }
-	sotDEBUGOUT(15);
-      }
-
     } // namespace dyninv
   } // namespace sot
 } // namespace dynamicgraph

src/pseudo-robot-dynamic.h

@@ -71,10 +71,6 @@ namespace dynamicgraph {
 
 	  virtual void display( std::ostream& os ) const;
 
-	  virtual void commandLine( const std::string& cmdLine,
-				    std::istringstream& cmdArgs,
-				    std::ostream& os );
-
 	  typedef ::dynamicgraph::EntityHelper<PseudoRobotDynamic>::EntityClassName
 	    EntityClassName;
 

src/zmp-estimator.cpp

@@ -89,24 +89,6 @@ namespace dynamicgraph
       {
 	os << "ZmpEstimator "<<getName() << "." << std::endl;
       }
-
-      void ZmpEstimator::
-      commandLine( const std::string& cmdLine,
-		   std::istringstream& cmdArgs,
-		   std::ostream& os )
-      {
-	if( cmdLine == "help" )
-	  {
-	    os << "ZmpEstimator:\n"
-	       << "\t- ." << std::endl;
-	    Entity::commandLine( cmdLine,cmdArgs,os );
-	  }
-	else
-	  {
-	    Entity::commandLine( cmdLine,cmdArgs,os );
-	  }
-      }
-
     } // namespace dyninv
   } // namespace sot
 } // namespace dynamicgraph

src/zmp-estimator.h

@@ -60,10 +60,6 @@ namespace dynamicgraph {
 
 	  virtual void display( std::ostream& os ) const;
 
-	  virtual void commandLine( const std::string& cmdLine,
-				    std::istringstream& cmdArgs,
-				    std::ostream& os );
-
 	public:  /* --- SIGNALS --- */
 
 	  DECLARE_SIGNAL_IN(fn,dg::Vector);