LocomotorPrimitives: Implement signal handling

This way we can still write result files if the simulation is
interrupted.

1 files changed, 12 insertions, 0 deletions

diff --git a/LocomotorPrimitivesManager.cpp b/LocomotorPrimitivesManager.cpp
index d1925db..eb267e2 100644
--- a/LocomotorPrimitivesManager.cpp
+++ b/LocomotorPrimitivesManager.cpp
@@ -5,5 +5,17 @@
 bool LocomotorPrimitivesManager::doIntegration(SimTK::State &s, int step, double dtFirst)
 {
 	// TODO possibly additional calculations
+	std::cout << "==> doIntegration" << std::endl;
 	return OpenSim::Manager::doIntegration(s, step, dtFirst);
 }
+
+bool LocomotorPrimitivesManager::integrate(SimTK::State &s, double dtFirst)
+{
+	int step = 0;
+
+	std::cout << "==> integrate" << std::endl;
+
+	s.setTime(getInitialTime());
+
+	return doIntegration(s, step, dtFirst);
+}