From 2cb44bbb7ffe49221910da8fd7339342a1c102ad Mon Sep 17 00:00:00 2001
From: florent <florent@laas.fr>
Date: Fri, 17 Dec 2010 14:53:19 +0100
Subject: [PATCH] Bind AngleEstimator class.
* include/sot-dynamic/angle-estimator.h,
* src/angle-estimator.cpp,
* src/angle-estimator-command.h: new.
---
include/sot-dynamic/angle-estimator.h | 2 +-
src/angle-estimator-command.h | 66 +++++++++++++++++++++++++++
src/angle-estimator.cpp | 24 ++++++++++
3 files changed, 91 insertions(+), 1 deletion(-)
create mode 100644 src/angle-estimator-command.h
diff --git a/include/sot-dynamic/angle-estimator.h b/include/sot-dynamic/angle-estimator.h
index 6820c43..0636c34 100644
--- a/include/sot-dynamic/angle-estimator.h
+++ b/include/sot-dynamic/angle-estimator.h
@@ -104,7 +104,7 @@ class SOTANGLEESTIMATOR_EXPORT AngleEstimator
public: /* --- PARAMS --- */
void fromSensor(const bool& inFromSensor) {
- fromSensor_ = fromSensor;
+ fromSensor_ = inFromSensor;
}
bool fromSensor() const {
return fromSensor_;
diff --git a/src/angle-estimator-command.h b/src/angle-estimator-command.h
new file mode 100644
index 0000000..c5966c5
--- /dev/null
+++ b/src/angle-estimator-command.h
@@ -0,0 +1,66 @@
+/*
+ * Copyright 2010,
+ * Florent Lamiraux
+ *
+ * CNRS/LAAS
+ *
+ * This file is part of sot-core.
+ * sot-core is free software: you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public License
+ * as published by the Free Software Foundation, either version 3 of
+ * the License, or (at your option) any later version.
+ * sot-core is distributed in the hope that it will be
+ * useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+ * of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details. You should
+ * have received a copy of the GNU Lesser General Public License along
+ * with sot-core. If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#ifndef ANGLE_ESTIMATOR_COMMAND_H
+ #define ANGLE_ESTIMATOR_COMMAND_H
+
+ #include <boost/assign/list_of.hpp>
+
+ #include <dynamic-graph/command.h>
+ #include <dynamic-graph/command-setter.h>
+ #include <dynamic-graph/command-getter.h>
+
+namespace sot {
+ namespace command {
+ using ::dynamicgraph::command::Command;
+ using ::dynamicgraph::command::Value;
+
+ // Command FromSensor
+ class FromSensor : public Command
+ {
+ public:
+ virtual ~FromSensor() {}
+ /// Create command and store it in Entity
+ /// \param entity instance of Entity owning this command
+ /// \param docstring documentation of the command
+ FromSensor(Dynamic& entity, const std::string& docstring) :
+ Command(entity, boost::assign::list_of(Value::STRING)
+ (Value::STRING)(Value::STRING)(Value::STRING), docstring)
+ {
+ }
+ virtual Value doExecute()
+ {
+ Dynamic& robot = static_cast<Dynamic&>(owner());
+ std::vector<Value> values = getParameterValues();
+ std::string vrmlDirectory = values[0].value();
+ std::string vrmlMainFile = values[1].value();
+ std::string xmlSpecificityFiles = values[2].value();
+ std::string xmlRankFile = values[3].value();
+ robot.setVrmlDirectory(vrmlDirectory);
+ robot.setVrmlMainFile(vrmlMainFile);
+ robot.setXmlSpecificityFile(xmlSpecificityFiles);
+ robot.setXmlRankFile(xmlRankFile);
+ // return void
+ return Value();
+ }
+ }; // class FromSensor
+ } // namespace command
+} //namespace sot
+
+#endif //ANGLE_ESTIMATOR_COMMAND_H
diff --git a/src/angle-estimator.cpp b/src/angle-estimator.cpp
index 3bc43ba..d1ff3c6 100644
--- a/src/angle-estimator.cpp
+++ b/src/angle-estimator.cpp
@@ -21,6 +21,9 @@
#include <sot-dynamic/angle-estimator.h>
#include <sot-core/debug.h>
#include <dynamic-graph/factory.h>
+#include <dynamic-graph/command.h>
+#include <dynamic-graph/command-setter.h>
+#include <dynamic-graph/command-getter.h>
#include <jrl/mal/matrixabstractlayer.hh>
@@ -85,6 +88,27 @@ AngleEstimator( const std::string & name )
<< waistWorldRotationSOUT
<< waistWorldPositionSOUT << waistWorldPoseRPYSOUT );
+ // Commands
+ std::string docstring;
+ docstring = " \n"
+ " Set flag specifying whether angle is measured from sensors or simulated.\n"
+ " \n"
+ " Input:\n"
+ " - a boolean value.\n"
+ " \n";
+ addCommand("setFromSensor",
+ new ::dynamicgraph::command::Setter<AngleEstimator, bool>
+ (*this, &AngleEstimator::fromSensor, docstring));
+
+ " Get flag specifying whether angle is measured from sensors or simulated.\n"
+ " \n"
+ " No input,\n"
+ " return a boolean value.\n"
+ " \n";
+ addCommand("getFromSensor",
+ new ::dynamicgraph::command::Getter<AngleEstimator, bool>
+ (*this, &AngleEstimator::fromSensor, docstring));
+
sotDEBUGOUT(5);
}
--
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