From 50e8a019a2269814d2e8527a987b22bf2416b17d Mon Sep 17 00:00:00 2001
From: Francesco Morsillo <fmorsill@laas.fr>
Date: Thu, 11 Jul 2013 13:15:16 +0200
Subject: [PATCH] Modified function name and command to set second order
kinematics in order to uniform it to Device::setSecondOrderIntegration
---
src/solver-kine.cpp | 18 ++++++++----------
src/solver-kine.h | 2 +-
2 files changed, 9 insertions(+), 11 deletions(-)
diff --git a/src/solver-kine.cpp b/src/solver-kine.cpp
index 58c50ba..16bc368 100644
--- a/src/solver-kine.cpp
+++ b/src/solver-kine.cpp
@@ -155,11 +155,11 @@ namespace dynamicgraph
"\n"
" If true, check that the solver is empty, since second order\n"
" kinematics requires tasks to be of type TaskDynPD.";
- addCommand("setSecondOrderKine",
- makeCommandVoid1(*this,&SolverKine::setSecondOrderKine,
+ addCommand("setSecondOrderKinematics",
+ makeCommandVoid0(*this,&SolverKine::setSecondOrderKinematics,
docstring));
- addCommand("getSecondOrderKine",
+ addCommand("getSecondOrderKinematics",
makeDirectGetter(*this,&secondOrderKinematics_,
docDirectGetter("second order kinematic inversion","bool")));
@@ -191,15 +191,13 @@ namespace dynamicgraph
}
}
- void SolverKine::setSecondOrderKine (const bool& secondOrder)
+ void SolverKine::setSecondOrderKinematics ()
{
- if (secondOrder) {
- if (stack.size() != 0) {
- throw std::runtime_error
- ("The solver should contain no task before switching to second order mode.");
- }
+ if (stack.size() != 0) {
+ throw std::runtime_error
+ ("The solver should contain no task before switching to second order mode.");
}
- secondOrderKinematics_ = secondOrder;
+ secondOrderKinematics_ = true;
}
SolverKine::TaskDependancyList_t SolverKine::
diff --git a/src/solver-kine.h b/src/solver-kine.h
index bdf6c5f..29bf2fa 100644
--- a/src/solver-kine.h
+++ b/src/solver-kine.h
@@ -99,7 +99,7 @@ namespace dynamicgraph {
/// Call parent implementation anc check that task is
/// of type dynamic if necessary
virtual void push( TaskAbstract& task );
- void setSecondOrderKine (const bool& secondOrder);
+ void setSecondOrderKinematics ();
private: /* --- INTERNAL COMPUTATIONS --- */
void refreshTaskTime( int time );
--
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