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/* |
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* Copyright 2010-2017, |
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* Florent Lamiraux, Rohan Budhiraja |
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* |
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* CNRS/AIST |
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* |
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*/ |
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#ifndef STC_COMMAND_HH |
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#define STC_COMMAND_HH |
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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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#include <sot/torque_control/joint-trajectory-generator.hh> |
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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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using ::dynamicgraph::sot::torque_control::JointTrajectoryGenerator; |
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// Command DisplayModel |
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class IsTrajectoryEnded : public Command { |
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public: |
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virtual ~IsTrajectoryEnded() { |
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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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IsTrajectoryEnded(JointTrajectoryGenerator& entity, |
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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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JointTrajectoryGenerator& jtg = |
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static_cast<JointTrajectoryGenerator&>(owner()); |
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bool output = jtg.isTrajectoryEnded(); |
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return Value(output); |
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} |
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}; // class IsTrajectoryEnded |
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} // namespace command |
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} /* namespace sot */ |
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} /* namespace dynamicgraph */ |
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#endif // STC_COMMAND_HH |