sot-torque-control  1.6.5
Collection of dynamic-graph entities aimed at implementing torque control on different robots.
 
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stc-commands.hh
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1/*
2 * Copyright 2010-2017,
3 * Florent Lamiraux, Rohan Budhiraja
4 *
5 * CNRS/AIST
6 *
7 */
8
9#ifndef STC_COMMAND_HH
10#define STC_COMMAND_HH
11
12#include <dynamic-graph/command-getter.h>
13#include <dynamic-graph/command-setter.h>
14#include <dynamic-graph/command.h>
15
16#include <boost/assign/list_of.hpp>
17#include <fstream>
19
20namespace dynamicgraph {
21namespace sot {
22namespace command {
23using ::dynamicgraph::command::Command;
24using ::dynamicgraph::command::Value;
25using ::dynamicgraph::sot::torque_control::JointTrajectoryGenerator;
26// Command DisplayModel
27class IsTrajectoryEnded : public Command {
28 public:
30 sotDEBUGIN(15);
31 sotDEBUGOUT(15);
32 }
36 IsTrajectoryEnded(JointTrajectoryGenerator& entity,
37 const std::string& docstring)
38 : Command(entity, std::vector<Value::Type>(), docstring) {}
39 virtual Value doExecute() {
40 JointTrajectoryGenerator& jtg =
41 static_cast<JointTrajectoryGenerator&>(owner());
42 bool output = jtg.isTrajectoryEnded();
43 return Value(output);
44 }
45}; // class IsTrajectoryEnded
46
47} // namespace command
48} /* namespace sot */
49} /* namespace dynamicgraph */
50
51#endif // STC_COMMAND_HH
IsTrajectoryEnded(JointTrajectoryGenerator &entity, const std::string &docstring)
Definition: stc-commands.hh:36
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Definition: treeview.dox:22