feature-joint-limits-command.h

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/*
 * Copyright 2010,
 * Florent Lamiraux
 *
 * CNRS/AIST
 *
 */

#ifndef FEATURE_JOINT_LIMITS_COMMAND_H
#define FEATURE_JOINT_LIMITS_COMMAND_H

#include <dynamic-graph/command-getter.h>
#include <dynamic-graph/command-setter.h>
#include <dynamic-graph/command.h>

#include <boost/assign/list_of.hpp>

namespace dynamicgraph {
namespace sot {
namespace command {
namespace featureJointLimits {
using ::dynamicgraph::command::Command;
using ::dynamicgraph::command::Value;

// Command Actuate
class Actuate : public Command {
 public:
  virtual ~Actuate() {}
  Actuate(FeatureJointLimits &entity, const std::string &docstring)
      : Command(entity, std::vector<Value::Type>(), docstring) {}
  virtual Value doExecute() {
    FeatureJointLimits &fjl = static_cast<FeatureJointLimits &>(owner());
    Flags fl(63);  // 0x0000003f = 00000000000000000000000000111111
    fjl.selectionSIN = (!fl);
    // return void
    return Value();
  }
};  // class Actuate
}  // namespace featureJointLimits
}  // namespace command
} /* namespace sot */
} /* namespace dynamicgraph */

#endif  // FEATURE_JOINT_LIMITS_COMMAND_H