From e953e9ac75341b928ae89861ce38f7bba0d8b911 Mon Sep 17 00:00:00 2001
From: Tobias Klauser <tobias.klauser@uzh.ch>
Date: Tue, 29 Jan 2013 14:52:31 +0100
Subject: LocomotorPrimitives: Implement signal handling

This way we can still write result files if the simulation is
interrupted.
---
 LocomotorPrimitivesManager.cpp | 12 ++++++++++++
 1 file changed, 12 insertions(+)

(limited to 'LocomotorPrimitivesManager.cpp')

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);
+}
-- 
cgit v1.2.3-54-g00ecf