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/* |
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* Copyright 2011, |
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* Olivier Stasse, |
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* |
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* CNRS |
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* |
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*/ |
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/* -------------------------------------------------------------------------- */ |
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/* --- INCLUDES ------------------------------------------------------------- */ |
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/* -------------------------------------------------------------------------- */ |
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#include "dummy-sot-external-interface.hh" |
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#include <iostream> |
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#include <sot/core/debug.hh> |
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using namespace std; |
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using namespace dynamicgraph::sot; |
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void DummySotExternalInterface::setupSetSensors( |
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std::map<std::string, dynamicgraph::sot::SensorValues> &sensorsIn) { |
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nominalSetSensors(sensorsIn); |
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return; |
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} |
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void DummySotExternalInterface::nominalSetSensors( |
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std::map<std::string, dynamicgraph::sot::SensorValues> & /*sensorsIn*/) { |
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return; |
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} |
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void DummySotExternalInterface::cleanupSetSensors( |
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std::map<std::string, dynamicgraph::sot::SensorValues> &sensorsIn) { |
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nominalSetSensors(sensorsIn); |
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return; |
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} |
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void DummySotExternalInterface::getControl( |
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std::map<std::string, dynamicgraph::sot::ControlValues> &controlOut) { |
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✓✗✓✗
✓✗ |
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controlOut["ctrl_map_name"] = dynamicgraph::sot::ControlValues(); |
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✓✗✓✗
✓✗✓✗
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controlOut["ctrl_map_name"].setName("ctrl_value_name"); |
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✓✗✓✗
✓✗✓✗
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controlOut["ctrl_map_name"].setValues(std::vector<double>(5, 3.1415)); |
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return; |
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} |
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void DummySotExternalInterface::setSecondOrderIntegration(void) { |
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second_integration_ = true; |
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return; |
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} |
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void DummySotExternalInterface::setNoIntegration(void) { |
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second_integration_ = false; |
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return; |
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} |
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extern "C" { |
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dynamicgraph::sot::AbstractSotExternalInterface *createSotExternalInterface() { |
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return new DummySotExternalInterface(); |
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} |
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} |
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extern "C" { |
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void destroySotExternalInterface( |
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dynamicgraph::sot::AbstractSotExternalInterface *p) { |
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✓✗ |
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delete p; |
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} |
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} |