Fix ddp-actuator-solver and trajecory-generators.

include/sot/torque_control/ddp-actuator-solver.hh

@@ -67,6 +67,7 @@ namespace dynamicgraph {
 	    DdpActuatorSolver(const std::string &name);
 	  virtual void display(std::ostream &os) const;
 
+	protected:
 	  /** Initialize the DDP.
 	   * @param timestep Control period (in seconds).
 	   * @param T  Size of the preview window (in nb of timestep).

include/sot/torque_control/utils/trajectory-generators.hh

@@ -35,7 +35,7 @@
 /* --------------------------------------------------------------------- */
 /* --- INCLUDE --------------------------------------------------------- */
 /* --------------------------------------------------------------------- */
-
+#include <iostream>
 #include <sot/torque_control/signal-helper.hh>
 #include <sot/torque_control/utils/vector-conversions.hh>
 #include <sot/torque_control/utils/logger.hh>

src/common.cpp

@@ -13,6 +13,7 @@
  * have received a copy of the GNU Lesser General Public License along
  * with sot-torque-control.  If not, see <http://www.gnu.org/licenses/>.
  */
+#include <iostream>
 
 #include <sot/torque_control/common.hh>
 #include <sot/core/debug.hh>

src/ddp-actuator-solver.cpp

@@ -126,7 +126,15 @@ namespace dynamicgraph
 	m_iterMax = nbItMax;
 	m_stopCrit = stopCriteria;
       }
-      
+
+      void DdpActuatorSolver::
+      display(std::ostream &os) const
+      {
+	os << " T: " << m_T
+	   << " timestep: " << m_dt
+	   << " nbItMax: " << m_iterMax
+	   << " stopCriteria: "<< m_stopCrit << std::endl;
+      }
     } // namespace torque_control
   } // namespace sot
 } // namespace dynamicgraph