void loadTwistType() { const std::string NAME("rstrt.kinematics.Twist"); RTT::types::TypeInfoRepository::shared_ptr repository = RTT::types::Types(); repository->addType( new RTT::types::StructTypeInfo<rstrt::kinematics::Twist, true>( NAME)); RTT::types::TypeInfo* typeInfo = repository->type(NAME); typeInfo->addConstructor(RTT::types::newConstructor(&createTwist_Values)); typeInfo->addConstructor( RTT::types::newConstructor(&createTwist_NestedTypes)); repository->addType( new RTT::types::SequenceTypeInfo< std::vector<rstrt::kinematics::Twist> >(NAME + "[]")); }
void loadTorquesType() { const std::string NAME("rstrt.dynamics.Torques"); RTT::types::TypeInfoRepository::shared_ptr repository = RTT::types::Types(); repository->addType(new RTT::types::StructTypeInfo<rstrt::dynamics::Torques, true> (NAME)); RTT::types::TypeInfo* typeInfo = repository->type(NAME); typeInfo->addConstructor(RTT::types::newConstructor(&createTorques_Values)); repository->addType( new RTT::types::SequenceTypeInfo<std::vector<rstrt::dynamics::Torques> > (NAME + "[]")); }