dummy-sot-external-interface.hh

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#ifndef ABSTRACT_SOT_EXTERNAL_INTERFACE_TESTER_HH
#define ABSTRACT_SOT_EXTERNAL_INTERFACE_TESTER_HH
 
#include <sot/core/abstract-sot-external-interface.hh>
 
typedef dynamicgraph::size_type size_type;
 
class DummySotExternalInterface
    : public dynamicgraph::sot::AbstractSotExternalInterface {
 public:
  DummySotExternalInterface(){};
 
  virtual ~DummySotExternalInterface(){};
 
  virtual void setupSetSensors(
      std::map<std::string, dynamicgraph::sot::SensorValues> &sensorsIn);
 
  virtual void nominalSetSensors(
      std::map<std::string, dynamicgraph::sot::SensorValues> &sensorsIn);
 
  virtual void cleanupSetSensors(
      std::map<std::string, dynamicgraph::sot::SensorValues> &sensorsIn);
 
  virtual void getControl(
      std::map<std::string, dynamicgraph::sot::ControlValues> &controlOut,
      const double &);
  virtual void setControlSize(const size_type &size);
  virtual void setSecondOrderIntegration(void);
  virtual void setNoIntegration(void);
 
 public:
  bool second_integration_;
};
 
#endif /* ABSTRACT_SOT_EXTERNAL_INTERFACE_TESTER_HH */