@@ -43,20 +43,20 @@ namespace dynamicgraph {
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/* --------------------------------------------------------------------- */
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class SOT_CORE_EXPORT Device
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- :public Entity
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+ :public Entity
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{
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public:
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static const std::string CLASS_NAME;
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virtual const std::string& getClassName (void ) const {
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- return CLASS_NAME;
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+ return CLASS_NAME;
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}
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enum ForceSignalSource
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{
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- FORCE_SIGNAL_RLEG,
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- FORCE_SIGNAL_LLEG,
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- FORCE_SIGNAL_RARM,
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- FORCE_SIGNAL_LARM
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+ FORCE_SIGNAL_RLEG,
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+ FORCE_SIGNAL_LLEG,
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+ FORCE_SIGNAL_RARM,
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+ FORCE_SIGNAL_LARM
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};
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protected:
@@ -75,18 +75,18 @@ namespace dynamicgraph {
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/* --- DESTRUCTION --- */
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virtual ~Device ();
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- void setStateSize (const unsigned int & size);
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- void setState (const ml::Vector& st);
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+ virtual void setStateSize (const unsigned int & size);
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+ virtual void setState (const ml::Vector& st);
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void setVelocitySize (const unsigned int & size);
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- void setVelocity (const ml::Vector & vel);
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- void setSecondOrderIntegration ();
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- void increment (const double & dt = 5e-2 );
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+ virtual void setVelocity (const ml::Vector & vel);
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+ virtual void setSecondOrderIntegration ();
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+ virtual void increment (const double & dt = 5e-2 );
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public: /* --- DISPLAY --- */
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virtual void display (std::ostream& os) const ;
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SOT_CORE_EXPORT friend std::ostream&
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- operator <<(std::ostream& os,const Device& r) {
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- r.display (os); return os;
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+ operator <<(std::ostream& os,const Device& r) {
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+ r.display (os); return os;
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}
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public: /* --- SIGNALS --- */
@@ -110,11 +110,11 @@ namespace dynamicgraph {
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public: /* --- COMMANDS --- */
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void commandLine (const std::string&, std::istringstream&,
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- std::ostream&){}
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+ std::ostream&){}
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protected:
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// / Compute roll pitch yaw angles of freeflyer joint.
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void integrateRollPitchYaw (ml::Vector& state, const ml::Vector& control,
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- double dt);
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+ double dt);
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// / Store Position of free flyer joint
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MatrixHomogeneous ffPose_;
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// / Compute the new position, from the current control.
@@ -123,8 +123,8 @@ namespace dynamicgraph {
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// / Get freeflyer pose
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const MatrixHomogeneous& freeFlyerPose () const ;
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public:
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- void setRoot ( const ml::Matrix & root );
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- void setRoot ( const MatrixHomogeneous & worldMwaist );
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+ virtual void setRoot ( const ml::Matrix & root );
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+ virtual void setRoot ( const MatrixHomogeneous & worldMwaist );
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private:
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// Intermediate variable to avoid dynamic allocation
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ml::Vector forceZero6;
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