Index: trunk/extremum_seeking/esc_sm/CMakeLists.txt
===================================================================
--- trunk/extremum_seeking/esc_sm/CMakeLists.txt	(revision 9)
+++ trunk/extremum_seeking/esc_sm/CMakeLists.txt	(revision 13)
Index: trunk/extremum_seeking/esc_sm/include/esc_sm/sm_esc_1d.h
===================================================================
--- trunk/extremum_seeking/esc_sm/include/esc_sm/sm_esc_1d.h	(revision 9)
+++ trunk/extremum_seeking/esc_sm/include/esc_sm/sm_esc_1d.h	(revision 13)
@@ -36,4 +36,5 @@
 	std::vector<double> monitor();
 	std::vector<std::string> monitorNames();
+	void reset();
 protected:
 	int sign(double value);
Index: trunk/extremum_seeking/esc_sm/src/sm_esc_1d.cpp
===================================================================
--- trunk/extremum_seeking/esc_sm/src/sm_esc_1d.cpp	(revision 9)
+++ trunk/extremum_seeking/esc_sm/src/sm_esc_1d.cpp	(revision 13)
@@ -87,2 +87,6 @@
 }
 
+void SMESC1D::reset(){
+	driving_input_ = 0;
+	driving_input_init_ = false;
+}