From 556d9a5ca28fa2986afa07a29de8bba0a82a7141 Mon Sep 17 00:00:00 2001
From: Mansard <nmansard@laas.fr>
Date: Thu, 20 Jan 2011 11:56:29 +0100
Subject: [PATCH] With the direct command pushed back in dg.
---
include/sot-dyninv/commands-helper.h | 102 +--------------------------
src/controller-pd.cpp | 2 +-
2 files changed, 3 insertions(+), 101 deletions(-)
diff --git a/include/sot-dyninv/commands-helper.h b/include/sot-dyninv/commands-helper.h
index e9e2502..742b812 100644
--- a/include/sot-dyninv/commands-helper.h
+++ b/include/sot-dyninv/commands-helper.h
@@ -19,113 +19,15 @@
/* --- COMMON INCLUDE -------------------------------------------------- */
#include <dynamic-graph/command.h>
-#include <dynamic-graph/command-setter.h>
-#include <dynamic-graph/command-getter.h>
+#include <dynamic-graph/command-direct-setter.h>
+#include <dynamic-graph/command-direct-getter.h>
-/* --- GETTER --------------------------------------------------------- */
-namespace dynamicgraph {
- namespace command {
-
-
-
- template <class E, typename T>
- class DirectGetter
- : public Command
- {
- public:
- /// Pointer to method that sets paramter of type T
- typedef T (E::*GetterMethod) () const;
-
- /// Constructor
- DirectGetter(E& entity,T* ptr,
- const std::string& docString)
- : Command(entity, std::vector<Value::Type>(), docString),
- T_ptr(ptr) {}
-
- protected:
- virtual Value doExecute() { return Value(*T_ptr); }
- private:
- T* T_ptr;
- };
-
- template <class E, typename T>
- DirectGetter<E,T>*
- makeDirectGetter( E& entity,T* ptr,
- const std::string& docString)
- { return new DirectGetter<E,T>(entity,ptr,docString); }
-
- std::string docDirectGetter( const std::string& name,
- const std::string& type )
- {
- return std::string("\nGet the ")+name+".\n\nNo input.\nReturn an "+type+".\n\n";
- }
-
- } // namespace command
-} // namespace dynamicgraph
-
-
-/* --- SETTER --------------------------------------------------------- */
-namespace dynamicgraph {
- namespace command {
-
-
- template< typename T >
- struct ValueHelper
- {
- static const Value::Type TypeID;
- };
-
- template<>
- const Value::Type ValueHelper<int>::TypeID = Value::INT;
-
-
- template <class E, typename T, Value::Type TYPEID>
- class DirectSetter
- : public Command
- {
- public:
- DirectSetter(E& entity,T* ptr,const std::string& docString)
- :Command(entity, boost::assign::list_of(TYPEID), docString)
- ,T_ptr(ptr)
- {}
-
- protected:
- virtual Value doExecute()
- {
- const std::vector<Value>& values = getParameterValues();
- T val = values[0].value();
- (*T_ptr) = val;
- return Value(); // void
- }
- private:
- T* T_ptr;
- };
-
-
-
- template <Value::Type TYPEID,class E, typename T>
- DirectSetter<E,T,TYPEID>*
- makeDirectSetter( E& entity,T* ptr,
- const std::string& docString)
- { return new DirectSetter<E,T,TYPEID>(entity,ptr,docString); }
-
- std::string docDirectSetter( const std::string& name,
- const std::string& type )
- {
- return std::string("\nSet the ")+name+".\n\nInput:\n - a "
- +type+".\nVoid return.\n\n";
- }
-
- } // namespace command
-} // namespace dynamicgraph
-
/* --- HELPER --------------------------------------------------------------- */
namespace sot {
namespace dyninv {
- using ::dynamicgraph::command::Value;
using ::dynamicgraph::command::makeDirectGetter;
using ::dynamicgraph::command::docDirectGetter;
using ::dynamicgraph::command::makeDirectSetter;
diff --git a/src/controller-pd.cpp b/src/controller-pd.cpp
index d95590b..5dbd072 100644
--- a/src/controller-pd.cpp
+++ b/src/controller-pd.cpp
@@ -60,7 +60,7 @@ namespace sot
docDirectGetter("dimension","int")));
addCommand("setSize",
- makeDirectSetter<Value::INT>(*this, &_dimension,
+ makeDirectSetter(*this, &_dimension,
docDirectSetter("dimension","int")));
}
--
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