From b4221ea868dbbb28b098ea6a9ce050de34aa10ec Mon Sep 17 00:00:00 2001
From: florent <florent@laas.fr>
Date: Fri, 17 Dec 2010 14:54:37 +0100
Subject: [PATCH] bind classes WaistPoseFromSensorAndContact and
WaistAttitudeFromSensor.
* include/sot-dynamic/waist-attitude-from-sensor.h,
* src/waist-attitude-from-sensor.cpp.
---
.../sot-dynamic/waist-attitude-from-sensor.h | 9 ++++-
src/waist-attitude-from-sensor.cpp | 35 ++++++++++++++++---
2 files changed, 39 insertions(+), 5 deletions(-)
diff --git a/include/sot-dynamic/waist-attitude-from-sensor.h b/include/sot-dynamic/waist-attitude-from-sensor.h
index 0d7a2fb..adeb658 100644
--- a/include/sot-dynamic/waist-attitude-from-sensor.h
+++ b/include/sot-dynamic/waist-attitude-from-sensor.h
@@ -98,7 +98,14 @@ class SOTWAISTATTITUDEFROMSENSOR_EXPORT WaistPoseFromSensorAndContact
static const std::string CLASS_NAME;
protected:
- bool fromSensor;
+ void fromSensor(const bool& inFromSensor) {
+ fromSensor_ = inFromSensor;
+ }
+ bool fromSensor() const {
+ return fromSensor_;
+ }
+ private:
+ bool fromSensor_;
public: /* --- CONSTRUCTION --- */
diff --git a/src/waist-attitude-from-sensor.cpp b/src/waist-attitude-from-sensor.cpp
index 783d906..239a672 100644
--- a/src/waist-attitude-from-sensor.cpp
+++ b/src/waist-attitude-from-sensor.cpp
@@ -22,6 +22,10 @@
#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>
+
using namespace sot;
using namespace dynamicgraph;
DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(WaistAttitudeFromSensor,"WaistAttitudeFromSensor");
@@ -105,7 +109,7 @@ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(WaistPoseFromSensorAndContact,
WaistPoseFromSensorAndContact::
WaistPoseFromSensorAndContact( const std::string & name )
:WaistAttitudeFromSensor(name)
- ,fromSensor(false)
+ ,fromSensor_(false)
,positionContactSIN(NULL,"sotWaistPoseFromSensorAndContact("+name+")::input(matrixHomo)::contact")
,positionWaistSOUT( boost::bind(&WaistPoseFromSensorAndContact::computePositionWaist,this,_1,_2),
attitudeWaistSOUT<<positionContactSIN,
@@ -115,6 +119,29 @@ WaistPoseFromSensorAndContact( const std::string & name )
signalRegistration( positionContactSIN<<positionWaistSOUT );
+ // Commands
+ std::string docstring;
+ docstring = " \n"
+ " Set flag specifying whether angles are measured from sensors or simulated.\n"
+ " \n"
+ " Input:\n"
+ " - a boolean value.\n"
+ " \n";
+ addCommand("setFromSensor",
+ new ::dynamicgraph::command::Setter
+ <WaistPoseFromSensorAndContact, bool>
+ (*this, &WaistPoseFromSensorAndContact::fromSensor, docstring));
+
+ " Get flag specifying whether angles are measured from sensors or simulated.\n"
+ " \n"
+ " No input,\n"
+ " return a boolean value.\n"
+ " \n";
+ addCommand("getFromSensor",
+ new ::dynamicgraph::command::Getter
+ <WaistPoseFromSensorAndContact, bool>
+ (*this, &WaistPoseFromSensorAndContact::fromSensor, docstring));
+
sotDEBUGOUT(5);
}
@@ -144,7 +171,7 @@ computePositionWaist( ml::Vector& res,
for( unsigned int i=0;i<3;++i )
{ res(i)=contactMwaist(i,3); }
- if(fromSensor)
+ if(fromSensor_)
{
const VectorRollPitchYaw & worldrwaist = attitudeWaistSOUT( time );
for( unsigned int i=0;i<3;++i )
@@ -191,9 +218,9 @@ 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 { WaistAttitudeFromSensor::commandLine( cmdLine,cmdArgs,os); }
--
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