include/dynamic-graph/command-getter.t.cpp

+//
+// Copyright 2010 CNRS
+//
+// Author: Florent Lamiraux
+//
+
+#ifndef DYNAMIC_GRAPH_COMMAND_GETTER_T_CPP
+#define DYNAMIC_GRAPH_COMMAND_GETTER_T_CPP
+
+#include "dynamic-graph/command-getter.h"
+
+#include <sstream>
+
+namespace dynamicgraph {
+class Entity;
+namespace command {
+
+template <class E, typename T>
+Getter<E, T>::Getter(E &entity, GetterMethod getterMethod,
+                     const std::string &docstring)
+    : Command(entity, std::vector<Value::Type>(), docstring),
+      getterMethod_(getterMethod) {}
+
+template <class E, typename T>
+Value Getter<E, T>::doExecute() {
+  E &entity = static_cast<E &>(owner());
+  T value = (entity.*getterMethod_)();
+  return Value(value);
+}
+}  // namespace command
+}  // namespace dynamicgraph
+
+#endif  // DYNAMIC_GRAPH_COMMAND_GETTER_T_CPP

include/dynamic-graph/command-setter.h

+//
+// Copyright 2010 CNRS
+//
+// Author: Florent Lamiraux
+//
+
+#ifndef DYNAMIC_GRAPH_COMMAND_SETTER_H
+#define DYNAMIC_GRAPH_COMMAND_SETTER_H
+
+#include "dynamic-graph/command.h"
+
+namespace dynamicgraph {
+namespace command {
+
+///
+/// Command that calls a parameter setter function
+///
+/// This class is templated by a type E deriving from entity and
+/// a type T of data.
+///
+/// Let us assume that class E has a private member of type T and a
+/// public setter function for this member:
+/// \code
+/// class E : public Entity
+/// {
+/// public:
+///   E (const std::string& inName) : Entity(inName) {}
+///   void setParameter(const T& parameter) {parameter_ = parameter;}
+/// private:
+///   T parameter_;
+/// };
+/// \endcode
+/// Then the command defined by:
+/// \code
+/// E entity("MyEntity");
+/// Setter<E,T> command(entity, &E::getParameter)
+/// \endcode
+/// sets the value of <c>entity.parameter_</c> upon invocation.
+///
+/// \note
+/// \li T should be a type supported by class Value,
+/// \li prototype of E::setParameter should be exactly as specified in this
+/// example.
+template <class E, typename T>
+class Setter : public Command {
+ public:
+  /// Pointer to method that sets parameter of type T
+  typedef void (E::*SetterMethod)(const T &);
+  /// Constructor
+  Setter(E &entity, SetterMethod setterMethod, const std::string &docString);
+
+ protected:
+  virtual Value doExecute();
+
+ private:
+  SetterMethod setterMethod_;
+};
+}  // namespace command
+}  // namespace dynamicgraph
+
+#include "dynamic-graph/command-setter.t.cpp"
+#endif  // DYNAMIC_GRAPH_COMMAND_SETTER_H

include/dynamic-graph/entity-helper.h

+/*
+ * Copyright 2011, Nicolas Mansard, LAAS-CNRS
+ *
+ */
+
+#ifndef __sot_core_entity_helper_H__
+#define __sot_core_entity_helper_H__
+
+namespace dynamicgraph {
+
+template <typename Ent>
+struct EntityHelper {
+  typedef Ent EntityClassName;
+  // static const std::string CLASS_NAME; TO BE ADDED IN DG DIRECTLY
+};
+
+}  // namespace dynamicgraph
+
+#endif  // __sot_core_entity_helper_H__