dynamic-command.h

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/*
 * Copyright 2010,
 * Florent Lamiraux
 *
 * CNRS/AIST
 *
 */
 
#ifndef DYNAMIC_COMMAND_H
#define DYNAMIC_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>
#include <fstream>
 
namespace dynamicgraph {
namespace sot {
namespace command {
using ::dynamicgraph::command::Command;
using ::dynamicgraph::command::Value;
 
// Command DisplayModel
class DisplayModel : public Command {
 public:
  virtual ~DisplayModel() {
    sotDEBUGIN(15);
    sotDEBUGOUT(15);
  }
  DisplayModel(DynamicPinocchio& entity, const std::string& docstring)
      : Command(entity, std::vector<Value::Type>(), docstring) {}
  virtual Value doExecute() {
    DynamicPinocchio& robot = static_cast<DynamicPinocchio&>(owner());
    robot.displayModel();
    return Value();
  }
};  // class DisplayModel
 
// Command GetDimension
class GetDimension : public Command {
 public:
  virtual ~GetDimension() {
    sotDEBUGIN(15);
    sotDEBUGOUT(15);
  }
  GetDimension(DynamicPinocchio& entity, const std::string& docstring)
      : Command(entity, std::vector<Value::Type>(), docstring) {}
  virtual Value doExecute() {
    DynamicPinocchio& robot = static_cast<DynamicPinocchio&>(owner());
    unsigned int dimension = robot.m_model->nv;
    return Value(dimension);
  }
};  // class GetDimension
 
// Command getJointNames
class GetJointNames : public Command {
 public:
  GetJointNames(DynamicPinocchio& entity, const std::string& docstring)
      : Command(entity, std::vector<Value::Type>(), docstring) {}
  virtual Value doExecute() {
    DynamicPinocchio& robot = static_cast<DynamicPinocchio&>(owner());
    if (robot.m_model == 0x0) {
      SOT_THROW ExceptionDynamic(ExceptionDynamic::GENERIC,
                                 "model has not been initialized.");
    }
    const std::vector<std::string>& jointNames = robot.m_model->names;
    // Remove first joint names 'universe'
    assert(jointNames.size() >= 1);
    std::vector<Value> res;
    for (std::size_t i = 1; i < jointNames.size(); ++i) {
      res.push_back(Value(jointNames[i]));
    }
    return Value(res);
  }
};
}  // namespace command
} /* namespace sot */
} /* namespace dynamicgraph */
 
#endif  // DYNAMIC_COMMAND_H