stc-commands.hh

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/*
 * Copyright 2010-2017,
 * Florent Lamiraux, Rohan Budhiraja
 *
 * CNRS/AIST
 *
 */
 
#ifndef STC_COMMAND_HH
#define STC_COMMAND_HH
 
#include <dynamic-graph/command-getter.h>
#include <dynamic-graph/command-setter.h>
#include <dynamic-graph/command.h>
 
#include <boost/assign/list_of.hpp>
#include <fstream>
#include <sot/torque_control/joint-trajectory-generator.hh>
 
namespace dynamicgraph {
namespace sot {
namespace command {
using ::dynamicgraph::command::Command;
using ::dynamicgraph::command::Value;
using ::dynamicgraph::sot::torque_control::JointTrajectoryGenerator;
// Command DisplayModel
class IsTrajectoryEnded : public Command {
 public:
  virtual ~IsTrajectoryEnded() {
    sotDEBUGIN(15);
    sotDEBUGOUT(15);
  }
  IsTrajectoryEnded(JointTrajectoryGenerator& entity,
                    const std::string& docstring)
      : Command(entity, std::vector<Value::Type>(), docstring) {}
  virtual Value doExecute() {
    JointTrajectoryGenerator& jtg =
        static_cast<JointTrajectoryGenerator&>(owner());
    bool output = jtg.isTrajectoryEnded();
    return Value(output);
  }
};  // class IsTrajectoryEnded
 
}  // namespace command
} /* namespace sot */
} /* namespace dynamicgraph */
 
#endif  // STC_COMMAND_HH