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Use int64_t for signal time type.
1 parent 4916b7f commit c9e9414

19 files changed

+251
-250
lines changed

‎include/sot/dynamic-pinocchio/angle-estimator.h‎

Lines changed: 24 additions & 24 deletions
Original file line numberDiff line numberDiff line change
@@ -58,51 +58,51 @@ class SOTANGLEESTIMATOR_EXPORT AngleEstimator : public dg::Entity {
5858
virtual ~AngleEstimator(void);
5959

6060
public: /* --- SIGNAL --- */
61-
dg::SignalPtr<MatrixRotation, int>
61+
dg::SignalPtr<MatrixRotation, sigtime_t>
6262
sensorWorldRotationSIN; // estimate(worldRc)
63-
dg::SignalPtr<MatrixHomogeneous, int>
63+
dg::SignalPtr<MatrixHomogeneous, sigtime_t>
6464
sensorEmbeddedPositionSIN; // waistRchest
65-
dg::SignalPtr<MatrixHomogeneous, int>
65+
dg::SignalPtr<MatrixHomogeneous, sigtime_t>
6666
contactWorldPositionSIN; // estimate(worldRf)
67-
dg::SignalPtr<MatrixHomogeneous, int>
67+
dg::SignalPtr<MatrixHomogeneous, sigtime_t>
6868
contactEmbeddedPositionSIN; // waistRleg
69-
dg::SignalTimeDependent<dynamicgraph::Vector, int>
69+
dg::SignalTimeDependent<dynamicgraph::Vector, sigtime_t>
7070
anglesSOUT; // [ flex1 flex2 yaw_drift ]
71-
dg::SignalTimeDependent<MatrixRotation, int> flexibilitySOUT; // footRleg
72-
dg::SignalTimeDependent<MatrixRotation, int>
71+
dg::SignalTimeDependent<MatrixRotation, sigtime_t> flexibilitySOUT; // footRleg
72+
dg::SignalTimeDependent<MatrixRotation, sigtime_t>
7373
driftSOUT; // Ryaw = worldRc est(wRc)^-1
74-
dg::SignalTimeDependent<MatrixRotation, int>
74+
dg::SignalTimeDependent<MatrixRotation, sigtime_t>
7575
sensorWorldRotationSOUT; // worldRc
76-
dg::SignalTimeDependent<MatrixRotation, int>
76+
dg::SignalTimeDependent<MatrixRotation, sigtime_t>
7777
waistWorldRotationSOUT; // worldRwaist
78-
dg::SignalTimeDependent<MatrixHomogeneous, int>
78+
dg::SignalTimeDependent<MatrixHomogeneous, sigtime_t>
7979
waistWorldPositionSOUT; // worldMwaist
80-
dg::SignalTimeDependent<dynamicgraph::Vector, int>
80+
dg::SignalTimeDependent<dynamicgraph::Vector, sigtime_t>
8181
waistWorldPoseRPYSOUT; // worldMwaist
8282

83-
dg::SignalPtr<dynamicgraph::Matrix, int> jacobianSIN;
84-
dg::SignalPtr<dynamicgraph::Vector, int> qdotSIN;
85-
dg::SignalTimeDependent<dynamicgraph::Vector, int> xff_dotSOUT;
86-
dg::SignalTimeDependent<dynamicgraph::Vector, int> qdotSOUT;
83+
dg::SignalPtr<dynamicgraph::Matrix, sigtime_t> jacobianSIN;
84+
dg::SignalPtr<dynamicgraph::Vector, sigtime_t> qdotSIN;
85+
dg::SignalTimeDependent<dynamicgraph::Vector, sigtime_t> xff_dotSOUT;
86+
dg::SignalTimeDependent<dynamicgraph::Vector, sigtime_t> qdotSOUT;
8787

8888
public: /* --- FUNCTIONS --- */
8989
dynamicgraph::Vector& computeAngles(dynamicgraph::Vector& res,
90-
const int& time);
90+
const sigtime_t& time);
9191
MatrixRotation& computeFlexibilityFromAngles(MatrixRotation& res,
92-
const int& time);
93-
MatrixRotation& computeDriftFromAngles(MatrixRotation& res, const int& time);
92+
const sigtime_t& time);
93+
MatrixRotation& computeDriftFromAngles(MatrixRotation& res, const sigtime_t& time);
9494
MatrixRotation& computeSensorWorldRotation(MatrixRotation& res,
95-
const int& time);
95+
const sigtime_t& time);
9696
MatrixRotation& computeWaistWorldRotation(MatrixRotation& res,
97-
const int& time);
97+
const sigtime_t& time);
9898
MatrixHomogeneous& computeWaistWorldPosition(MatrixHomogeneous& res,
99-
const int& time);
99+
const sigtime_t& time);
100100
dynamicgraph::Vector& computeWaistWorldPoseRPY(dynamicgraph::Vector& res,
101-
const int& time);
101+
const sigtime_t& time);
102102
dynamicgraph::Vector& compute_xff_dotSOUT(dynamicgraph::Vector& res,
103-
const int& time);
103+
const sigtime_t& time);
104104
dynamicgraph::Vector& compute_qdotSOUT(dynamicgraph::Vector& res,
105-
const int& time);
105+
const sigtime_t& time);
106106

107107
public: /* --- PARAMS --- */
108108
void fromSensor(const bool& fs) { fromSensor_ = fs; }

‎include/sot/dynamic-pinocchio/dynamic-pinocchio.h‎

Lines changed: 68 additions & 68 deletions
Original file line numberDiff line numberDiff line change
@@ -93,78 +93,78 @@ class SOTDYNAMIC_EXPORT DynamicPinocchio : public dg::Entity {
9393

9494
public:
9595
/* --- SIGNAL ACTIVATION --- */
96-
dg::SignalTimeDependent<dg::Matrix, int>& createEndeffJacobianSignal(
96+
dg::SignalTimeDependent<dg::Matrix, sigtime_t>& createEndeffJacobianSignal(
9797
const std::string& signame, const std::string&,
9898
const bool isLocal = true);
99-
dg::SignalTimeDependent<dg::Matrix, int>& createJacobianSignal(
99+
dg::SignalTimeDependent<dg::Matrix, sigtime_t>& createJacobianSignal(
100100
const std::string& signame, const std::string&);
101101
void destroyJacobianSignal(const std::string& signame);
102102

103-
dg::SignalTimeDependent<MatrixHomogeneous, int>& createPositionSignal(
103+
dg::SignalTimeDependent<MatrixHomogeneous, sigtime_t>& createPositionSignal(
104104
const std::string&, const std::string&);
105105
void destroyPositionSignal(const std::string& signame);
106106

107-
dg::SignalTimeDependent<dg::Vector, int>& createVelocitySignal(
107+
dg::SignalTimeDependent<dg::Vector, sigtime_t>& createVelocitySignal(
108108
const std::string&, const std::string&);
109109
void destroyVelocitySignal(const std::string& signame);
110110

111-
dg::SignalTimeDependent<dg::Vector, int>& createAccelerationSignal(
111+
dg::SignalTimeDependent<dg::Vector, sigtime_t>& createAccelerationSignal(
112112
const std::string&, const std::string&);
113113
void destroyAccelerationSignal(const std::string& signame);
114114

115115
/*! @} */
116-
std::list<dg::SignalBase<int>*> genericSignalRefs;
116+
std::list<dg::SignalBase<sigtime_t>*> genericSignalRefs;
117117

118118
public:
119119
/* --- SIGNAL --- */
120120
typedef int Dummy;
121-
dg::SignalPtr<dg::Vector, int> jointPositionSIN;
122-
dg::SignalPtr<dg::Vector, int> freeFlyerPositionSIN;
123-
dg::SignalPtr<dg::Vector, int> jointVelocitySIN;
124-
dg::SignalPtr<dg::Vector, int> freeFlyerVelocitySIN;
125-
dg::SignalPtr<dg::Vector, int> jointAccelerationSIN;
126-
dg::SignalPtr<dg::Vector, int> freeFlyerAccelerationSIN;
127-
128-
dg::SignalTimeDependent<dg::Vector, int> pinocchioPosSINTERN;
129-
dg::SignalTimeDependent<dg::Vector, int> pinocchioVelSINTERN;
130-
dg::SignalTimeDependent<dg::Vector, int> pinocchioAccSINTERN;
131-
132-
dg::SignalTimeDependent<Dummy, int> newtonEulerSINTERN;
133-
dg::SignalTimeDependent<Dummy, int> jacobiansSINTERN;
134-
dg::SignalTimeDependent<Dummy, int> forwardKinematicsSINTERN;
135-
dg::SignalTimeDependent<Dummy, int> ccrbaSINTERN;
136-
137-
int& computeNewtonEuler(int& dummy, const int& time);
138-
int& computeForwardKinematics(int& dummy, const int& time);
139-
int& computeCcrba(int& dummy, const int& time);
140-
int& computeJacobians(int& dummy, const int& time);
141-
142-
dg::SignalTimeDependent<dg::Vector, int> zmpSOUT;
143-
dg::SignalTimeDependent<dg::Matrix, int> JcomSOUT;
144-
dg::SignalTimeDependent<dg::Vector, int> comSOUT;
145-
dg::SignalTimeDependent<dg::Matrix, int> inertiaSOUT;
146-
147-
dg::SignalTimeDependent<dg::Matrix, int>& jacobiansSOUT(
121+
dg::SignalPtr<dg::Vector, sigtime_t> jointPositionSIN;
122+
dg::SignalPtr<dg::Vector, sigtime_t> freeFlyerPositionSIN;
123+
dg::SignalPtr<dg::Vector, sigtime_t> jointVelocitySIN;
124+
dg::SignalPtr<dg::Vector, sigtime_t> freeFlyerVelocitySIN;
125+
dg::SignalPtr<dg::Vector, sigtime_t> jointAccelerationSIN;
126+
dg::SignalPtr<dg::Vector, sigtime_t> freeFlyerAccelerationSIN;
127+
128+
dg::SignalTimeDependent<dg::Vector, sigtime_t> pinocchioPosSINTERN;
129+
dg::SignalTimeDependent<dg::Vector, sigtime_t> pinocchioVelSINTERN;
130+
dg::SignalTimeDependent<dg::Vector, sigtime_t> pinocchioAccSINTERN;
131+
132+
dg::SignalTimeDependent<Dummy, sigtime_t> newtonEulerSINTERN;
133+
dg::SignalTimeDependent<Dummy, sigtime_t> jacobiansSINTERN;
134+
dg::SignalTimeDependent<Dummy, sigtime_t> forwardKinematicsSINTERN;
135+
dg::SignalTimeDependent<Dummy, sigtime_t> ccrbaSINTERN;
136+
137+
int& computeNewtonEuler(int& dummy, const sigtime_t& time);
138+
int& computeForwardKinematics(int& dummy, const sigtime_t& time);
139+
int& computeCcrba(int& dummy, const sigtime_t& time);
140+
int& computeJacobians(int& dummy, const sigtime_t& time);
141+
142+
dg::SignalTimeDependent<dg::Vector, sigtime_t> zmpSOUT;
143+
dg::SignalTimeDependent<dg::Matrix, sigtime_t> JcomSOUT;
144+
dg::SignalTimeDependent<dg::Vector, sigtime_t> comSOUT;
145+
dg::SignalTimeDependent<dg::Matrix, sigtime_t> inertiaSOUT;
146+
147+
dg::SignalTimeDependent<dg::Matrix, sigtime_t>& jacobiansSOUT(
148148
const std::string& name);
149-
dg::SignalTimeDependent<MatrixHomogeneous, int>& positionsSOUT(
149+
dg::SignalTimeDependent<MatrixHomogeneous, sigtime_t>& positionsSOUT(
150150
const std::string& name);
151-
dg::SignalTimeDependent<dg::Vector, int>& velocitiesSOUT(
151+
dg::SignalTimeDependent<dg::Vector, sigtime_t>& velocitiesSOUT(
152152
const std::string& name);
153-
dg::SignalTimeDependent<dg::Vector, int>& accelerationsSOUT(
153+
dg::SignalTimeDependent<dg::Vector, sigtime_t>& accelerationsSOUT(
154154
const std::string& name);
155155

156-
dg::SignalTimeDependent<double, int> footHeightSOUT;
157-
dg::SignalTimeDependent<dg::Vector, int> upperJlSOUT;
158-
dg::SignalTimeDependent<dg::Vector, int> lowerJlSOUT;
159-
dg::SignalTimeDependent<dg::Vector, int> upperVlSOUT;
160-
dg::SignalTimeDependent<dg::Vector, int> upperTlSOUT;
156+
dg::SignalTimeDependent<double, sigtime_t> footHeightSOUT;
157+
dg::SignalTimeDependent<dg::Vector, sigtime_t> upperJlSOUT;
158+
dg::SignalTimeDependent<dg::Vector, sigtime_t> lowerJlSOUT;
159+
dg::SignalTimeDependent<dg::Vector, sigtime_t> upperVlSOUT;
160+
dg::SignalTimeDependent<dg::Vector, sigtime_t> upperTlSOUT;
161161

162-
dg::Signal<dg::Vector, int> inertiaRotorSOUT;
163-
dg::Signal<dg::Vector, int> gearRatioSOUT;
164-
dg::SignalTimeDependent<dg::Matrix, int> inertiaRealSOUT;
165-
dg::SignalTimeDependent<dg::Vector, int> MomentaSOUT;
166-
dg::SignalTimeDependent<dg::Vector, int> AngularMomentumSOUT;
167-
dg::SignalTimeDependent<dg::Vector, int> dynamicDriftSOUT;
162+
dg::Signal<dg::Vector, sigtime_t> inertiaRotorSOUT;
163+
dg::Signal<dg::Vector, sigtime_t> gearRatioSOUT;
164+
dg::SignalTimeDependent<dg::Matrix, sigtime_t> inertiaRealSOUT;
165+
dg::SignalTimeDependent<dg::Vector, sigtime_t> MomentaSOUT;
166+
dg::SignalTimeDependent<dg::Vector, sigtime_t> AngularMomentumSOUT;
167+
dg::SignalTimeDependent<dg::Vector, sigtime_t> dynamicDriftSOUT;
168168

169169
public:
170170
/* --- CONSTRUCTOR --- */
@@ -196,54 +196,54 @@ class SOTDYNAMIC_EXPORT DynamicPinocchio : public dg::Entity {
196196
///
197197
/// \param[out] result vector
198198
/// \return result vector
199-
dg::Vector& getLowerPositionLimits(dg::Vector& res, const int&) const;
199+
dg::Vector& getLowerPositionLimits(dg::Vector& res, const sigtime_t&) const;
200200

201201
/// \brief Get joint position upper limits
202202
///
203203
/// \param[out] result vector
204204
/// \return result vector
205-
dg::Vector& getUpperPositionLimits(dg::Vector& res, const int&) const;
205+
dg::Vector& getUpperPositionLimits(dg::Vector& res, const sigtime_t&) const;
206206

207207
/// \brief Get joint velocity upper limits
208208
///
209209
/// \param[out] result vector
210210
/// \return result vector
211-
dg::Vector& getUpperVelocityLimits(dg::Vector& res, const int&) const;
211+
dg::Vector& getUpperVelocityLimits(dg::Vector& res, const sigtime_t&) const;
212212

213213
/// \brief Get joint effort upper limits
214214
///
215215
/// \param[out] result vector
216216
/// \return result vector
217-
dg::Vector& getMaxEffortLimits(dg::Vector& res, const int&) const;
217+
dg::Vector& getMaxEffortLimits(dg::Vector& res, const sigtime_t&) const;
218218

219219
// dg::Vector& getAnklePositionInFootFrame() const;
220220

221221
protected:
222222
dg::Matrix& computeGenericJacobian(const bool isFrame, const int jointId,
223-
dg::Matrix& res, const int& time);
223+
dg::Matrix& res, const sigtime_t& time);
224224
dg::Matrix& computeGenericEndeffJacobian(const bool isFrame,
225225
const bool isLocal,
226226
const int jointId, dg::Matrix& res,
227-
const int& time);
227+
const sigtime_t& time);
228228
MatrixHomogeneous& computeGenericPosition(const bool isFrame,
229229
const int jointId,
230230
MatrixHomogeneous& res,
231-
const int& time);
231+
const sigtime_t& time);
232232
dg::Vector& computeGenericVelocity(const int jointId, dg::Vector& res,
233-
const int& time);
233+
const sigtime_t& time);
234234
dg::Vector& computeGenericAcceleration(const int jointId, dg::Vector& res,
235-
const int& time);
235+
const sigtime_t& time);
236236

237-
dg::Vector& computeZmp(dg::Vector& res, const int& time);
238-
dg::Vector& computeMomenta(dg::Vector& res, const int& time);
239-
dg::Vector& computeAngularMomentum(dg::Vector& res, const int& time);
240-
dg::Matrix& computeJcom(dg::Matrix& res, const int& time);
241-
dg::Vector& computeCom(dg::Vector& res, const int& time);
242-
dg::Matrix& computeInertia(dg::Matrix& res, const int& time);
243-
dg::Matrix& computeInertiaReal(dg::Matrix& res, const int& time);
244-
double& computeFootHeight(double& res, const int& time);
237+
dg::Vector& computeZmp(dg::Vector& res, const sigtime_t& time);
238+
dg::Vector& computeMomenta(dg::Vector& res, const sigtime_t& time);
239+
dg::Vector& computeAngularMomentum(dg::Vector& res, const sigtime_t& time);
240+
dg::Matrix& computeJcom(dg::Matrix& res, const sigtime_t& time);
241+
dg::Vector& computeCom(dg::Vector& res, const sigtime_t& time);
242+
dg::Matrix& computeInertia(dg::Matrix& res, const sigtime_t& time);
243+
dg::Matrix& computeInertiaReal(dg::Matrix& res, const sigtime_t& time);
244+
double& computeFootHeight(double& res, const sigtime_t& time);
245245

246-
dg::Vector& computeTorqueDrift(dg::Vector& res, const int& time);
246+
dg::Vector& computeTorqueDrift(dg::Vector& res, const sigtime_t& time);
247247

248248
public: /* --- PARAMS --- */
249249
void cmd_createOpPointSignals(const std::string& sig, const std::string& j);
@@ -262,9 +262,9 @@ class SOTDYNAMIC_EXPORT DynamicPinocchio : public dg::Entity {
262262
/// \brief map of joints in construction.
263263
/// map: jointName -> (jointType,jointPosition (in parent frame), function_ptr
264264
/// to pinocchio Joint)
265-
dg::Vector& getPinocchioPos(dg::Vector& q, const int& time);
266-
dg::Vector& getPinocchioVel(dg::Vector& v, const int& time);
267-
dg::Vector& getPinocchioAcc(dg::Vector& a, const int& time);
265+
dg::Vector& getPinocchioPos(dg::Vector& q, const sigtime_t& time);
266+
dg::Vector& getPinocchioVel(dg::Vector& v, const sigtime_t& time);
267+
dg::Vector& getPinocchioAcc(dg::Vector& a, const sigtime_t& time);
268268

269269
//\brief Index list for the first dof of (spherical joints)/ (spherical part
270270
// of free-flyer joint).

‎include/sot/dynamic-pinocchio/force-compensation.h‎

Lines changed: 24 additions & 24 deletions
Original file line numberDiff line numberDiff line change
@@ -125,41 +125,41 @@ class SOTFORCECOMPENSATION_EXPORT ForceCompensationPlugin
125125

126126
public: /* --- SIGNAL --- */
127127
/* --- INPUTS --- */
128-
dg::SignalPtr<dynamicgraph::Vector, int> torsorSIN;
129-
dg::SignalPtr<MatrixRotation, int> worldRhandSIN;
128+
dg::SignalPtr<dynamicgraph::Vector, sigtime_t> torsorSIN;
129+
dg::SignalPtr<MatrixRotation, sigtime_t> worldRhandSIN;
130130

131131
/* --- CONSTANTS --- */
132-
dg::SignalPtr<MatrixRotation, int> handRsensorSIN;
133-
dg::SignalPtr<dynamicgraph::Vector, int> translationSensorComSIN;
134-
dg::SignalPtr<dynamicgraph::Vector, int> gravitySIN;
135-
dg::SignalPtr<dynamicgraph::Vector, int> precompensationSIN;
136-
dg::SignalPtr<dynamicgraph::Matrix, int> gainSensorSIN;
137-
dg::SignalPtr<dynamicgraph::Vector, int> deadZoneLimitSIN;
138-
dg::SignalPtr<dynamicgraph::Vector, int> transSensorJointSIN;
139-
dg::SignalPtr<dynamicgraph::Matrix, int> inertiaJointSIN;
140-
141-
dg::SignalPtr<dynamicgraph::Vector, int> velocitySIN;
142-
dg::SignalPtr<dynamicgraph::Vector, int> accelerationSIN;
132+
dg::SignalPtr<MatrixRotation, sigtime_t> handRsensorSIN;
133+
dg::SignalPtr<dynamicgraph::Vector, sigtime_t> translationSensorComSIN;
134+
dg::SignalPtr<dynamicgraph::Vector, sigtime_t> gravitySIN;
135+
dg::SignalPtr<dynamicgraph::Vector, sigtime_t> precompensationSIN;
136+
dg::SignalPtr<dynamicgraph::Matrix, sigtime_t> gainSensorSIN;
137+
dg::SignalPtr<dynamicgraph::Vector, sigtime_t> deadZoneLimitSIN;
138+
dg::SignalPtr<dynamicgraph::Vector, sigtime_t> transSensorJointSIN;
139+
dg::SignalPtr<dynamicgraph::Matrix, sigtime_t> inertiaJointSIN;
140+
141+
dg::SignalPtr<dynamicgraph::Vector, sigtime_t> velocitySIN;
142+
dg::SignalPtr<dynamicgraph::Vector, sigtime_t> accelerationSIN;
143143

144144
/* --- INTERMEDIATE OUTPUTS --- */
145-
dg::SignalTimeDependent<MatrixForce, int> handXworldSOUT;
146-
dg::SignalTimeDependent<MatrixForce, int> handVsensorSOUT;
147-
dg::SignalPtr<dynamicgraph::Vector, int> torsorDeadZoneSIN;
145+
dg::SignalTimeDependent<MatrixForce, sigtime_t> handXworldSOUT;
146+
dg::SignalTimeDependent<MatrixForce, sigtime_t> handVsensorSOUT;
147+
dg::SignalPtr<dynamicgraph::Vector, sigtime_t> torsorDeadZoneSIN;
148148

149-
dg::SignalTimeDependent<MatrixForce, int> sensorXhandSOUT;
150-
// dg::SignalTimeDependent<dynamicgraph::Matrix,int> inertiaSensorSOUT;
151-
dg::SignalTimeDependent<dynamicgraph::Vector, int> momentumSOUT;
152-
dg::SignalPtr<dynamicgraph::Vector, int> momentumSIN;
149+
dg::SignalTimeDependent<MatrixForce, sigtime_t> sensorXhandSOUT;
150+
// dg::SignalTimeDependent<dynamicgraph::Matrix,sigtime_t> inertiaSensorSOUT;
151+
dg::SignalTimeDependent<dynamicgraph::Vector, sigtime_t> momentumSOUT;
152+
dg::SignalPtr<dynamicgraph::Vector, sigtime_t> momentumSIN;
153153

154154
/* --- OUTPUTS --- */
155-
dg::SignalTimeDependent<dynamicgraph::Vector, int> torsorCompensatedSOUT;
156-
dg::SignalTimeDependent<dynamicgraph::Vector, int> torsorDeadZoneSOUT;
155+
dg::SignalTimeDependent<dynamicgraph::Vector, sigtime_t> torsorCompensatedSOUT;
156+
dg::SignalTimeDependent<dynamicgraph::Vector, sigtime_t> torsorDeadZoneSOUT;
157157

158158
typedef int sotDummyType;
159-
dg::SignalTimeDependent<sotDummyType, int> calibrationTrigerSOUT;
159+
dg::SignalTimeDependent<sotDummyType, sigtime_t> calibrationTrigerSOUT;
160160

161161
public: /* --- COMMANDLINE --- */
162-
sotDummyType& calibrationTriger(sotDummyType& dummy, int time);
162+
sotDummyType& calibrationTriger(sotDummyType& dummy, sigtime_t time);
163163
};
164164

165165
} // namespace sot

‎include/sot/dynamic-pinocchio/integrator-force-exact.h‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -63,7 +63,7 @@ class SOTINTEGRATORFORCEEXACT_EXPORT IntegratorForceExact
6363
public: /* --- SIGNAL --- */
6464
public: /* --- FUNCTIONS --- */
6565
dynamicgraph::Vector& computeVelocityExact(dynamicgraph::Vector& res,
66-
const int& time);
66+
const sigtime_t& time);
6767
};
6868

6969
} /* namespace sot */

‎include/sot/dynamic-pinocchio/integrator-force-rk4.h‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -62,7 +62,7 @@ class SOTINTEGRATORFORCERK4_EXPORT IntegratorForceRK4 : public IntegratorForce {
6262
public: /* --- SIGNAL --- */
6363
public: /* --- FUNCTIONS --- */
6464
dynamicgraph::Vector& computeDerivativeRK4(dynamicgraph::Vector& res,
65-
const int& time);
65+
const sigtime_t& time);
6666
};
6767

6868
} /* namespace sot */

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