From 6607b4194d3c963e92f099ec44424028fcefe936 Mon Sep 17 00:00:00 2001
From: florent <florent@laas.fr>
Date: Fri, 17 Dec 2010 09:46:49 +0100
Subject: [PATCH] Make member fromSensor private and add setter and getter.
* include/sot-dynamic/angle-estimator.h,
* src/angle-estimator.cpp: rename member fromSensor -> fromSensor_.
---
include/sot-dynamic/angle-estimator.h | 9 ++++++++-
src/angle-estimator.cpp | 8 ++++----
2 files changed, 12 insertions(+), 5 deletions(-)
diff --git a/include/sot-dynamic/angle-estimator.h b/include/sot-dynamic/angle-estimator.h
index 759f820..6820c43 100644
--- a/include/sot-dynamic/angle-estimator.h
+++ b/include/sot-dynamic/angle-estimator.h
@@ -103,7 +103,14 @@ class SOTANGLEESTIMATOR_EXPORT AngleEstimator
const int& time );
public: /* --- PARAMS --- */
- bool fromSensor;
+ void fromSensor(const bool& inFromSensor) {
+ fromSensor_ = fromSensor;
+ }
+ bool fromSensor() const {
+ return fromSensor_;
+ }
+ private:
+ bool fromSensor_;
virtual void commandLine( const std::string& cmdLine,
std::istringstream& cmdArgs,
diff --git a/src/angle-estimator.cpp b/src/angle-estimator.cpp
index 59f5151..3bc43ba 100644
--- a/src/angle-estimator.cpp
+++ b/src/angle-estimator.cpp
@@ -73,7 +73,7 @@ AngleEstimator( const std::string & name )
"sotAngleEstimator("+name
+")::output(vectorRollPitchYaw)::waistWorldPoseRPY" )
- ,fromSensor(true)
+ ,fromSensor_(true)
{
sotDEBUGIN(5);
@@ -267,7 +267,7 @@ computeWaistWorldPosition( MatrixHomogeneous& res,
const MatrixHomogeneous & waistMleg = contactEmbeddedPositionSIN( time );
MatrixHomogeneous legMwaist; waistMleg.inverse( legMwaist );
- if( fromSensor )
+ if( fromSensor_ )
{
const MatrixRotation & Rflex = flexibilitySOUT( time ); // footRleg
ml::Vector zero(3); zero.fill(0.);
@@ -316,9 +316,9 @@ commandLine( const std::string& cmdLine,
std::string val; cmdArgs>>val;
if( ("true"==val)||("false"==val) )
{
- fromSensor = ( val=="true" );
+ fromSensor_ = ( val=="true" );
} else {
- os << "fromSensor = " << (fromSensor?"true":"false") << std::endl;
+ os << "fromSensor = " << (fromSensor_?"true":"false") << std::endl;
}
}
else { Entity::commandLine( cmdLine,cmdArgs,os); }
--
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