Add command Sot::getSize

Author: jmirabel

include/sot/core/sot.hh

@@ -201,6 +201,7 @@ namespace dynamicgraph {
 	defineFreeFloatingJoints(const unsigned int& jointIdFirst,
 				 const unsigned int& jointIdLast = -1);
       virtual void defineNbDof( const unsigned int& nbDof );
+      virtual const unsigned int& getNbDof() const { return nbJoints; }
 
       /*! @} */
     public: /* --- CONTROL --- */

src/sot/sot.cpp

@@ -110,6 +110,16 @@ Sot( const std::string& name )
 	     new dynamicgraph::command::Setter<Sot, unsigned int>
 	     (*this, &Sot::defineNbDof, docstring));
 
+  docstring ="    \n"
+    "    getNumberDofs.\n"
+    "    \n"
+    "      Output:\n"
+    "        - a positive integer : number of degrees of freedom of the robot.\n"
+    "    \n";
+  addCommand("getSize",
+	     new dynamicgraph::command::Getter<Sot, const unsigned int&>
+	     (*this, &Sot::getNbDof, docstring));
+
   docstring ="    \n"
     "    push a task into the stack.\n"
     "    \n"