| Line |
Branch |
Exec |
Source |
| 1 |
|
|
// |
| 2 |
|
|
// Copyright 2010 CNRS |
| 3 |
|
|
// |
| 4 |
|
|
// Author: Florent Lamiraux |
| 5 |
|
|
// |
| 6 |
|
|
|
| 7 |
|
|
#ifndef DYNAMIC_GRAPH_TUTORIAL_COMMAND_INCREMENT_HH |
| 8 |
|
|
#define DYNAMIC_GRAPH_TUTORIAL_COMMAND_INCREMENT_HH |
| 9 |
|
|
|
| 10 |
|
|
#include <boost/assign/list_of.hpp> |
| 11 |
|
|
|
| 12 |
|
|
namespace dynamicgraph { |
| 13 |
|
|
namespace tutorial { |
| 14 |
|
|
namespace command { |
| 15 |
|
|
using ::dynamicgraph::command::Command; |
| 16 |
|
|
using ::dynamicgraph::command::Value; |
| 17 |
|
|
class Increment : public Command { |
| 18 |
|
|
public: |
| 19 |
|
✗ |
virtual ~Increment() {} |
| 20 |
|
|
/// Create a command and store it in Entity |
| 21 |
|
|
/// \param entity Instance of Entity owning of the command |
| 22 |
|
|
/// \param docstring documentation of the command |
| 23 |
|
✗ |
Increment(InvertedPendulum& entity, const std::string& docstring) |
| 24 |
|
✗ |
: Command(entity, boost::assign::list_of(Value::DOUBLE), docstring) {} |
| 25 |
|
✗ |
virtual Value doExecute() { |
| 26 |
|
✗ |
Entity& entity = owner(); |
| 27 |
|
✗ |
InvertedPendulum& ip = static_cast<InvertedPendulum&>(entity); |
| 28 |
|
✗ |
std::vector<Value> values = getParameterValues(); |
| 29 |
|
✗ |
double timeStep = values[0].value(); |
| 30 |
|
✗ |
ip.incr(timeStep); |
| 31 |
|
✗ |
return Value(); |
| 32 |
|
|
} |
| 33 |
|
|
}; // class Increment |
| 34 |
|
|
} // namespace command |
| 35 |
|
|
} // namespace tutorial |
| 36 |
|
|
} // namespace dynamicgraph |
| 37 |
|
|
#endif // DYNAMIC_GRAPH_TUTORIAL_COMMAND_INCREMENT_HH |
| 38 |
|
|
|