GCC Code Coverage Report
Directory: ./ Exec Total Coverage
File: src/dynamic-command.h Lines: 0 27 0.0 %
Date: 2023-01-28 11:04:48 Branches: 0 28 0.0 %

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/*
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 * Copyright 2010,
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 * Florent Lamiraux
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 *
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 * CNRS/AIST
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 *
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 */
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#ifndef DYNAMIC_COMMAND_H
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#define DYNAMIC_COMMAND_H
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#include <dynamic-graph/command-getter.h>
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#include <dynamic-graph/command-setter.h>
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#include <dynamic-graph/command.h>
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#include <boost/assign/list_of.hpp>
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#include <fstream>
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namespace dynamicgraph {
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namespace sot {
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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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// Command DisplayModel
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class DisplayModel : public Command {
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 public:
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  virtual ~DisplayModel() {
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    sotDEBUGIN(15);
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    sotDEBUGOUT(15);
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  }
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  /// Create command and store it in Entity
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  /// \param entity instance of Entity owning this command
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  /// \param docstring documentation of the command
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  DisplayModel(DynamicPinocchio& entity, const std::string& docstring)
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      : Command(entity, std::vector<Value::Type>(), docstring) {}
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  virtual Value doExecute() {
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    DynamicPinocchio& robot = static_cast<DynamicPinocchio&>(owner());
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    robot.displayModel();
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    return Value();
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  }
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};  // class DisplayModel
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// Command GetDimension
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class GetDimension : public Command {
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 public:
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  virtual ~GetDimension() {
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    sotDEBUGIN(15);
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    sotDEBUGOUT(15);
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  }
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  /// Create command and store it in Entity
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  /// \param entity instance of Entity owning this command
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  /// \param docstring documentation of the command
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  GetDimension(DynamicPinocchio& entity, const std::string& docstring)
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      : Command(entity, std::vector<Value::Type>(), docstring) {}
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  virtual Value doExecute() {
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    DynamicPinocchio& robot = static_cast<DynamicPinocchio&>(owner());
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    unsigned int dimension = robot.m_model->nv;
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    return Value(dimension);
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  }
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};  // class GetDimension
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// Command getJointNames
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class GetJointNames : public Command {
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 public:
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  /// Create command and store it in Entity
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  /// \param entity instance of Entity owning this command
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  /// \param docstring documentation of the command
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  GetJointNames(DynamicPinocchio& entity, const std::string& docstring)
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      : Command(entity, std::vector<Value::Type>(), docstring) {}
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  virtual Value doExecute() {
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    DynamicPinocchio& robot = static_cast<DynamicPinocchio&>(owner());
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    if (robot.m_model == 0x0) {
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      SOT_THROW ExceptionDynamic(ExceptionDynamic::GENERIC,
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                                 "model has not been initialized.");
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    }
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    const std::vector<std::string>& jointNames = robot.m_model->names;
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    // Remove first joint names 'universe'
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    assert(jointNames.size() >= 1);
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    std::vector<Value> res;
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    for (std::size_t i = 1; i < jointNames.size(); ++i) {
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      res.push_back(Value(jointNames[i]));
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    }
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    return Value(res);
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  }
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};
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}  // namespace command
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} /* namespace sot */
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} /* namespace dynamicgraph */
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#endif  // DYNAMIC_COMMAND_H