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// |
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// Copyright 2010 CNRS |
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// Author: Florent Lamiraux |
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// |
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#ifndef DYNAMIC_GRAPH_TUTORIAL_COMMAND_INCREMENT_HH |
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#define DYNAMIC_GRAPH_TUTORIAL_COMMAND_INCREMENT_HH |
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#include <boost/assign/list_of.hpp> |
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namespace dynamicgraph { |
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namespace tutorial { |
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namespace command { |
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using ::dynamicgraph::command::Command; |
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using ::dynamicgraph::command::Value; |
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class Increment : public Command { |
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public: |
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virtual ~Increment() {} |
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/// Create a command and store it in Entity |
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/// \param entity Instance of Entity owning of the command |
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/// \param docstring documentation of the command |
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Increment(InvertedPendulum& entity, const std::string& docstring) |
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: Command(entity, boost::assign::list_of(Value::DOUBLE), docstring) {} |
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virtual Value doExecute() { |
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Entity& entity = owner(); |
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InvertedPendulum& ip = static_cast<InvertedPendulum&>(entity); |
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std::vector<Value> values = getParameterValues(); |
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double timeStep = values[0].value(); |
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ip.incr(timeStep); |
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return Value(); |
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} |
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}; // class Increment |
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} // namespace command |
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} // namespace tutorial |
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} // namespace dynamicgraph |
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#endif // DYNAMIC_GRAPH_TUTORIAL_COMMAND_INCREMENT_HH |