[tools] Add a timestep_ field inside device + getTimeStep command.

Device should be the one prodiving its timestep.

Author: olivier-stasse

include/sot/core/device.hh

@@ -81,7 +81,8 @@ namespace dynamicgraph {
       bool withForceSignals[4];
       PeriodicCall periodicCallBefore_;
       PeriodicCall periodicCallAfter_;
-
+      double timestep_;
+      
       /// \name Robot bounds used for sanity checks
       /// \{
       Vector upperPosition_;

src/tools/device.cpp

@@ -210,6 +210,9 @@ Device( const std::string& n )
                  command::docCommandVoid2 ("Set robot torque bounds", "vector: lower bounds", "vector: upper bounds")
                  ));
 
+    addCommand("getTimeStep",
+             makeDirectGetter (*this, &this->timestep_,
+                               docDirectGetter ("Time step", "double")));
     // Handle commands and signals called in a synchronous way.
     periodicCallBefore_.addSpecificCommands(*this, commandMap, "before.");
     periodicCallAfter_.addSpecificCommands(*this, commandMap, "after.");