diff options
Diffstat (limited to 'LocomotorPrimitivesManager.cpp')
| -rw-r--r-- | LocomotorPrimitivesManager.cpp | 12 |
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); +} |