Change LcmDrivenLoop to accept a System* instead of a LeafSystem* as the lcm_parser

DAIRLab / dairlib

MIT License

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Change LcmDrivenLoop to accept a System* instead of a LeafSystem* as the lcm_parser #355

Closed Brian-Acosta closed 4 months ago

Brian-Acosta commented 5 months ago

Small change to make LcmDrivenLoop more flexible (my use case is a nested diagram which accepts lcmt_robot_output. This is necessary since Diagram subclasses System, not LeafSystem).

This change is