Update to the new structure of sot-core

src/sot-talos-controller.cpp

@@ -115,6 +115,18 @@ getControl(map<string,dgsot::ControlValues> &controlOut)
     }
 }
 
+void SoTTalosController::
+setNoIntegration(void)
+{
+  device_.setNoIntegration();
+}
+
+void SoTTalosController::
+setSecondOrderIntegration(void)
+{
+  device_.setSecondOrderIntegration();
+}
+
 void SoTTalosController::
 runPython(std::ostream& file,
 	  const std::string& command,

src/sot-talos-controller.hh

@@ -42,6 +42,9 @@ class SoTTalosController: public
 
   void getControl(std::map<std::string, dgsot::ControlValues> &anglesOut);
 
+  void setNoIntegration(void);
+  void setSecondOrderIntegration(void);
+
   /// Embedded python interpreter accessible via Corba/ros
   boost::shared_ptr<dynamicgraph::Interpreter> interpreter_;
 

src/sot-talos-device.cpp

@@ -258,7 +258,7 @@ void SoTTalosDevice::getControl(map<string,dgsot::ControlValues> &controlOut)
 
   for(unsigned int i=6; i < state_.size();++i)
     anglesOut[i-6] = state_(i);
-  controlOut["joints"].setValues(anglesOut);
+  controlOut["control"].setValues(anglesOut);
   // Read zmp reference from input signal if plugged
   int time = controlSIN.getTime ();
   zmpSIN.recompute (time + 1);