robot-simu.cpp

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/*
 * Copyright 2010,
 * Nicolas Mansard, Olivier Stasse, François Bleibel, Florent Lamiraux
 *
 * CNRS
 *
 */

#include "sot/core/robot-simu.hh"

#include <dynamic-graph/all-commands.h>
#include <dynamic-graph/factory.h>

namespace dynamicgraph {
namespace sot {
DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(RobotSimu, "RobotSimu");

RobotSimu::RobotSimu(const std::string &inName) : Device(inName) {
  using namespace dynamicgraph::command;
  std::string docstring;
  /* Set Time step. */
  docstring =
      "\n"
      "    Set the time step provided\n"
      "\n"
      "      take one floating point number as input\n"
      "\n";
  addCommand("setTimeStep",
             makeDirectSetter(*this, &this->timestep_, docstring));
}
}  // namespace sot
}  // namespace dynamicgraph