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/* |
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* Copyright 2010, |
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* Nicolas Mansard, Olivier Stasse, François Bleibel, Florent Lamiraux |
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* |
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* CNRS |
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* |
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*/ |
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#include "sot/core/robot-simu.hh" |
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#include <dynamic-graph/all-commands.h> |
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#include <dynamic-graph/factory.h> |
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namespace dynamicgraph { |
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namespace sot { |
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DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(RobotSimu, "RobotSimu"); |
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RobotSimu::RobotSimu(const std::string &inName) : Device(inName) { |
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using namespace dynamicgraph::command; |
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std::string docstring; |
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/* Command increment. */ |
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docstring = |
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"\n" |
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" Integrate dynamics for time step provided as input\n" |
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"\n" |
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" take one floating point number as input\n" |
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"\n"; |
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addCommand("increment", command::makeCommandVoid1( |
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(Device &)*this, &Device::increment, docstring)); |
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/* Set Time step. */ |
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docstring = |
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"\n" |
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" Set the time step provided\n" |
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"\n" |
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" take one floating point number as input\n" |
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"\n"; |
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addCommand("setTimeStep", |
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makeDirectSetter(*this, &this->timestep_, docstring)); |
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} |
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} // namespace sot |
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} // namespace dynamicgraph |