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  • cberge/dynamic-graph
  • ostasse/dynamic-graph
  • gsaurel/dynamic-graph
  • stack-of-tasks/dynamic-graph
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include/dynamic-graph/signal-array.h
View file @ 99c5f364
......@@ -8,6 +8,7 @@
#include <dynamic-graph/dynamic-graph-api.h>
#include <dynamic-graph/signal-base.h>
#include <stdio.h>
#include <vector>
namespace dynamicgraph {
......@@ -15,16 +16,16 @@ namespace dynamicgraph {
/// \ingroup dgraph
///
/// \brief TODO
template <class Time> class SignalArray_const {
public:
template <class Time>
class SignalArray_const {
public:
static const int DEFAULT_SIZE = 20;
protected:
protected:
std::vector<const SignalBase<Time> *> const_array;
unsigned int size, rank;
public:
public:
SignalArray_const<Time>(const unsigned int &sizeARG = DEFAULT_SIZE)
: const_array(sizeARG), size(sizeARG), rank(0) {}
......@@ -34,22 +35,22 @@ public:
}
SignalArray_const<Time>(const SignalArray<Time> &siga)
: const_array(siga.getSize()), size(siga.getSize()),
: const_array(siga.getSize()),
size(siga.getSize()),
rank(siga.getSize()) {
for (unsigned int i = 0; i < rank; ++i)
const_array[i] = &siga[i];
for (unsigned int i = 0; i < rank; ++i) const_array[i] = &siga[i];
}
SignalArray_const<Time>(const SignalArray_const<Time> &siga)
: const_array(siga.getSize()), size(siga.getSize()),
: const_array(siga.getSize()),
size(siga.getSize()),
rank(siga.getSize()) {
for (unsigned int i = 0; i < rank; ++i)
const_array[i] = &siga[i];
for (unsigned int i = 0; i < rank; ++i) const_array[i] = &siga[i];
}
virtual ~SignalArray_const<Time>() {}
protected:
protected:
void addElmt(const SignalBase<Time> *el) {
if (rank >= size) {
size += DEFAULT_SIZE;
......@@ -58,13 +59,13 @@ protected:
const_array[rank++] = el;
}
public:
public:
virtual SignalArray_const<Time> &operator<<(const SignalBase<Time> &sig) {
addElmt(&sig);
return *this;
}
public:
public:
virtual const SignalBase<Time> &operator[](const unsigned int &idx) const {
return *const_array[idx];
}
......@@ -82,16 +83,17 @@ SignalArray_const<Time> operator<<(const SignalBase<Time> &sig1,
/// \ingroup dgraph
///
/// \brief TODO
template <class Time> class SignalArray : public SignalArray_const<Time> {
public:
template <class Time>
class SignalArray : public SignalArray_const<Time> {
public:
using SignalArray_const<Time>::DEFAULT_SIZE;
using SignalArray_const<Time>::size;
using SignalArray_const<Time>::rank;
protected:
protected:
mutable std::vector<SignalBase<Time> *> array;
public:
public:
SignalArray<Time>(const unsigned int &sizeARG = DEFAULT_SIZE)
: SignalArray_const<Time>(0), array(sizeARG) {
size = sizeARG;
......@@ -106,13 +108,12 @@ public:
SignalArray<Time>(const SignalArray<Time> &siga)
: SignalArray_const<Time>(siga.getSize()), array(siga.getSize()) {
rank = siga.getSize();
for (unsigned int i = 0; i < rank; ++i)
array[i] = &siga[i];
for (unsigned int i = 0; i < rank; ++i) array[i] = &siga[i];
}
virtual ~SignalArray<Time>() {}
protected:
protected:
void addElmt(SignalBase<Time> *el) {
if (rank >= size) {
size += DEFAULT_SIZE;
......@@ -121,14 +122,14 @@ protected:
array[rank++] = el;
}
public:
public:
virtual SignalArray<Time> &operator<<(SignalBase<Time> &sig) {
addElmt(&sig);
return *this;
}
virtual SignalArray_const<Time>
operator<<(const SignalBase<Time> &sig) const {
virtual SignalArray_const<Time> operator<<(
const SignalBase<Time> &sig) const {
SignalArray_const<Time> res(*this);
res << sig;
return res;
......@@ -148,6 +149,6 @@ SignalArray<Time> operator<<(SignalBase<Time> &sig1, SignalBase<Time> &sig2) {
DYNAMIC_GRAPH_DLLAPI extern SignalArray<int> sotNOSIGNAL;
} // end of namespace dynamicgraph.
} // end of namespace dynamicgraph.
#endif //! DYNAMIC_GRAPH_SIGNAL_ARRAY_H
#endif //! DYNAMIC_GRAPH_SIGNAL_ARRAY_H
include/dynamic-graph/signal-base.h
View file @ 99c5f364
......@@ -6,14 +6,14 @@
#ifndef DYNAMIC_GRAPH_SIGNAL_BASE_H
#define DYNAMIC_GRAPH_SIGNAL_BASE_H
#include <dynamic-graph/exception-signal.h>
#include <boost/noncopyable.hpp>
#include <dynamic-graph/fwd.hh>
#include <sstream>
#include <string>
#include <typeinfo>
#include <dynamic-graph/exception-signal.h>
#include <dynamic-graph/fwd.hh>
namespace dynamicgraph {
/** \brief The base class for signals: not to be used as such.
......@@ -23,8 +23,9 @@ namespace dynamicgraph {
value of the signal, which can involve an extra computation,
while the latter accesses a cached value, or 'copy'.
*/
template <class Time> class SignalBase : public boost::noncopyable {
public:
template <class Time>
class SignalBase : public boost::noncopyable {
public:
explicit SignalBase(std::string name = "")
: name(name), signalTime(0), ready(false) {}
......@@ -195,7 +196,7 @@ public:
}
/// \}
protected:
protected:
std::string name;
Time signalTime;
bool ready;
......@@ -206,6 +207,6 @@ template <class Time>
std::ostream &operator<<(std::ostream &os, const SignalBase<Time> &sig) {
return sig.display(os);
}
} // end of namespace dynamicgraph.
} // end of namespace dynamicgraph.
#endif //! DYNAMIC_GRAPH_SIGNAL_BASE_H
#endif //! DYNAMIC_GRAPH_SIGNAL_BASE_H
include/dynamic-graph/signal-cast-helper.h
View file @ 99c5f364
......@@ -8,4 +8,4 @@
#pragma warning "This file is now useless"
#endif // #ifndef DYNAMIC_GRAPH_SIGNAL_CASTER_HELPER_HH
#endif // #ifndef DYNAMIC_GRAPH_SIGNAL_CASTER_HELPER_HH
include/dynamic-graph/signal-caster.h
View file @ 99c5f364
......@@ -4,22 +4,23 @@
#ifndef DYNAMIC_GRAPH_SIGNAL_CASTER_HH
#define DYNAMIC_GRAPH_SIGNAL_CASTER_HH
#include <map>
#include <vector>
#include <dynamic-graph/dynamic-graph-api.h>
#include <dynamic-graph/eigen-io.h>
#include <dynamic-graph/linear-algebra.h>
#include <boost/format.hpp>
#include <boost/lexical_cast.hpp>
#include <map>
#include <vector>
#include "dynamic-graph/exception-signal.h"
#include <dynamic-graph/dynamic-graph-api.h>
#include <dynamic-graph/eigen-io.h>
#include <dynamic-graph/linear-algebra.h>
namespace dynamicgraph {
/// Inherit from this class if you want to keep default implementation for some
/// functions.
template <typename T> struct signal_io_base {
template <typename T>
struct signal_io_base {
/// serialize a signal value.
inline static void disp(const T &value, std::ostream &os) { os << value; }
/// deserialize a signal value.
......@@ -37,7 +38,8 @@ template <typename T> struct signal_io_base {
};
/// Inherit from this class if tracing is not implemented for a given type.
template <typename T> struct signal_io_unimplemented {
template <typename T>
struct signal_io_unimplemented {
inline static void disp(const T &, std::ostream &) {
throw std::logic_error("this disp is not implemented.");
}
......@@ -50,7 +52,8 @@ template <typename T> struct signal_io_unimplemented {
};
/// Class used for I/O operations in Signal<T,Time>
template <typename T> struct signal_io : signal_io_base<T> {};
template <typename T>
struct signal_io : signal_io_base<T> {};
/// Template specialization of signal_disp for Eigen objects
template <typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows,
......@@ -98,7 +101,8 @@ struct signal_io<Eigen::Quaternion<_Scalar, _Options>>
/// Template specialization of signal_io for std::string.
/// Do not print '\n' at the end.
template <> struct signal_io<std::string> : signal_io_base<std::string> {
template <>
struct signal_io<std::string> : signal_io_base<std::string> {
inline static std::string cast(std::istringstream &iss) { return iss.str(); }
};
......@@ -114,7 +118,8 @@ template <> struct signal_io<std::string> : signal_io_base<std::string> {
/// To workaround this problem, parse special values manually
/// (the strings used are the one produces by displaying special
/// values on a stream).
template <> struct signal_io<double> : signal_io_base<double> {
template <>
struct signal_io<double> : signal_io_base<double> {
inline static double cast(std::istringstream &iss) {
std::string tmp(iss.str());
......@@ -135,6 +140,6 @@ template <> struct signal_io<double> : signal_io_base<double> {
}
};
} // end of namespace dynamicgraph.
} // end of namespace dynamicgraph.
#endif //! DYNAMIC_GRAPH_SIGNAL_CASTER_HH
#endif //! DYNAMIC_GRAPH_SIGNAL_CASTER_HH
include/dynamic-graph/signal-helper.h
View file @ 99c5f364
......@@ -19,18 +19,18 @@
/* --- MACROS ---------------------------------------------------------- */
#define SIGNAL_OUT_FUNCTION_NAME(name) name##SOUT_function
#define DECLARE_SIGNAL(name, IO, type) \
#define DECLARE_SIGNAL(name, IO, type) \
::dynamicgraph::Signal<type, int> m_##name##S##IO
#define CONSTRUCT_SIGNAL(name, IO, type) \
m_##name##S##IO(getClassName() + "(" + getName() + ")::" + #IO + "put(" + \
#define CONSTRUCT_SIGNAL(name, IO, type) \
m_##name##S##IO(getClassName() + "(" + getName() + ")::" + #IO + "put(" + \
#type + ")::" + #name)
#define BIND_SIGNAL_TO_FUNCTION(name, IO, type) \
m_##name##S##IO.setFunction(boost::bind( \
#define BIND_SIGNAL_TO_FUNCTION(name, IO, type) \
m_##name##S##IO.setFunction(boost::bind( \
&EntityClassName::SIGNAL_OUT_FUNCTION_NAME(name), this, _1, _2));
/**/
#define DECLARE_SIGNAL_IN(name, type) \
#define DECLARE_SIGNAL_IN(name, type) \
::dynamicgraph::SignalPtr<type, int> m_##name##SIN
#define CONSTRUCT_SIGNAL_IN(name, type) \
m_##name##SIN(NULL, getClassName() + "(" + getName() + ")::input(" + #type + \
......@@ -38,40 +38,40 @@
/**/
#define DECLARE_SIGNAL_OUT_FUNCTION(name, type) \
#define DECLARE_SIGNAL_OUT_FUNCTION(name, type) \
type &SIGNAL_OUT_FUNCTION_NAME(name)(type &, int)
#define DEFINE_SIGNAL_OUT_FUNCTION(name, type) \
#define DEFINE_SIGNAL_OUT_FUNCTION(name, type) \
type &EntityClassName::SIGNAL_OUT_FUNCTION_NAME(name)(type & s, int iter)
#define SIGNAL_OUT_FUNCTION(name) name##SOUT_function
#define DECLARE_SIGNAL_OUT(name, type) \
public: \
::dynamicgraph::SignalTimeDependent<type, int> m_##name##SOUT; \
\
protected: \
#define DECLARE_SIGNAL_OUT(name, type) \
public: \
::dynamicgraph::SignalTimeDependent<type, int> m_##name##SOUT; \
\
protected: \
type &SIGNAL_OUT_FUNCTION(name)(type &, int)
#define CONSTRUCT_SIGNAL_OUT(name, type, dep) \
m_##name##SOUT( \
boost::bind(&EntityClassName::name##SOUT_function, this, _1, _2), dep, \
#define CONSTRUCT_SIGNAL_OUT(name, type, dep) \
m_##name##SOUT( \
boost::bind(&EntityClassName::name##SOUT_function, this, _1, _2), dep, \
getClassName() + "(" + getName() + ")::output(" + #type + ")::" + #name)
/**************** INNER SIGNALS *******************/
#define SIGNAL_INNER_FUNCTION_NAME(name) name##SINNER_function
#define DECLARE_SIGNAL_INNER_FUNCTION(name, type) \
#define DECLARE_SIGNAL_INNER_FUNCTION(name, type) \
type &SIGNAL_INNER_FUNCTION_NAME(name)(type &, int)
#define DEFINE_SIGNAL_INNER_FUNCTION(name, type) \
#define DEFINE_SIGNAL_INNER_FUNCTION(name, type) \
type &EntityClassName::SIGNAL_INNER_FUNCTION_NAME(name)(type & s, int iter)
#define DECLARE_SIGNAL_INNER(name, type) \
public: \
::dynamicgraph::SignalTimeDependent<type, int> m_##name##SINNER; \
\
protected: \
#define DECLARE_SIGNAL_INNER(name, type) \
public: \
::dynamicgraph::SignalTimeDependent<type, int> m_##name##SINNER; \
\
protected: \
DECLARE_SIGNAL_INNER_FUNCTION(name, type)
#define CONSTRUCT_SIGNAL_INNER(name, type, dep) \
......@@ -79,4 +79,4 @@ protected: \
boost::bind(&EntityClassName::name##SINNER_function, this, _1, _2), dep, \
getClassName() + "(" + getName() + ")::inner(" + #type + ")::" + #name)
#endif // __dynamic_graph_signal_helper_H__
#endif // __dynamic_graph_signal_helper_H__
include/dynamic-graph/signal-ptr.h
View file @ 99c5f364
......@@ -9,8 +9,6 @@
#include <dynamic-graph/exception-signal.h>
#include <dynamic-graph/signal.h>
#include <dynamic-graph/deprecated.hh>
namespace dynamicgraph {
/// \ingroup dgraph
///
......@@ -27,10 +25,10 @@ namespace dynamicgraph {
///
template <class T, class Time>
class SignalPtr : public virtual Signal<T, Time> {
public:
public:
using SignalBase<Time>::getName;
protected:
protected:
Signal<T, Time> *signalPtr;
bool modeNoThrow;
bool transmitAbstract;
......@@ -39,19 +37,22 @@ protected:
inline bool autoref() const { return signalPtr == this; }
public: /* --- CONSTRUCTORS --- */
public: /* --- CONSTRUCTORS --- */
SignalPtr(Signal<T, Time> *ptr, std::string name = "")
: Signal<T, Time>(name), signalPtr(ptr), modeNoThrow(false),
transmitAbstract(false), abstractTransmitter(NULL) {}
: Signal<T, Time>(name),
signalPtr(ptr),
modeNoThrow(false),
transmitAbstract(false),
abstractTransmitter(NULL) {}
virtual ~SignalPtr() { signalPtr = NULL; }
public:
public:
/* --- PLUG-IN OPERATION --- */
Signal<T, Time> *getPtr(); // throw
const Signal<T, Time> *getPtr() const; // throw
SignalBase<Time> *getAbstractPtr(); // throw
const SignalBase<Time> *getAbstractPtr() const; // throw
Signal<T, Time> *getPtr(); // throw
const Signal<T, Time> *getPtr() const; // throw
SignalBase<Time> *getAbstractPtr(); // throw
const SignalBase<Time> *getAbstractPtr() const; // throw
virtual void plug(SignalBase<Time> *ref);
virtual void unplug() { plug(NULL); }
......@@ -68,7 +69,7 @@ public:
inline const Signal<T, Time> &operator*() const { return *getPtr(); }
inline operator bool() const { return isPlugged(); }
public: /* --- INHERITANCE --- */
public: /* --- INHERITANCE --- */
virtual bool needUpdate(const Time &t) const;
virtual std::ostream &writeGraph(std::ostream &os) const;
virtual std::ostream &display(std::ostream &os) const;
......@@ -92,7 +93,7 @@ public: /* --- INHERITANCE --- */
virtual void checkCompatibility();
public: /* --- INHERITANCE --- */
public: /* --- INHERITANCE --- */
/* SignalPtr could be used as a classical signal, through the normal
* setting functions. The behavior is to plugged the signalPtr on
* the classical mother Signal layer of the object.
......@@ -128,7 +129,7 @@ public: /* --- INHERITANCE --- */
std::string next1 = "",
std::string next2 = "") const;
protected: // Interdiction of the rest of the heritage
protected: // Interdiction of the rest of the heritage
using Signal<T, Time>::addDependency;
virtual void addDependency() {}
using Signal<T, Time>::removeDependency;
......@@ -136,7 +137,7 @@ protected: // Interdiction of the rest of the heritage
virtual void clearDependencies() {}
};
} // end of namespace dynamicgraph
} // end of namespace dynamicgraph
#include <dynamic-graph/signal-ptr.t.cpp>
#endif //! DYNAMIC_GRAPH_SIGNAL_PTR_H
#endif //! DYNAMIC_GRAPH_SIGNAL_PTR_H
include/dynamic-graph/signal-ptr.t.cpp
View file @ 99c5f364
......@@ -17,10 +17,10 @@ bool SignalPtr<T, Time>::isAbstractPluged() const {
return ((NULL != signalPtr) || (abstractTransmitter));
}
template <class T, class Time> Signal<T, Time> *SignalPtr<T, Time>::getPtr() {
template <class T, class Time>
Signal<T, Time> *SignalPtr<T, Time>::getPtr() {
dgTDEBUGIN(25);
if (!isPlugged())
DG_THROW
if (!isPlugged()) DG_THROW
ExceptionSignal(ExceptionSignal::NOT_INITIALIZED,
"In SignalPtr: SIN ptr not set.", " (in signal <%s>)",
getName().c_str());
......@@ -110,7 +110,8 @@ void SignalPtr<T, Time>::plug(SignalBase<Time> *unknown_ref) {
dgTDEBUGOUT(5);
}
template <class T, class Time> void SignalPtr<T, Time>::checkCompatibility() {
template <class T, class Time>
void SignalPtr<T, Time>::checkCompatibility() {
if (isPlugged() && (!autoref())) {
getPtr()->checkCompatibility();
} else if (isAbstractPluged() && (!autoref())) {
......@@ -127,7 +128,8 @@ bool SignalPtr<T, Time>::needUpdate(const Time &t) const {
return Signal<T, Time>::needUpdate(t);
}
template <class T, class Time> const Time &SignalPtr<T, Time>::getTime() const {
template <class T, class Time>
const Time &SignalPtr<T, Time>::getTime() const {
if ((isAbstractPluged()) && (!autoref())) {
return getAbstractPtr()->getTime();
}
......@@ -158,7 +160,8 @@ const T &SignalPtr<T, Time>::access(const Time &t) {
}
}
template <class T, class Time> const T &SignalPtr<T, Time>::accessCopy() const {
template <class T, class Time>
const T &SignalPtr<T, Time>::accessCopy() const {
if (modeNoThrow && (!isPlugged()) && Signal<T, Time>::copyInit)
return Signal<T, Time>::accessCopy();
else if (autoref())
......@@ -204,10 +207,11 @@ std::ostream &SignalPtr<T, Time>::display(std::ostream &os) const {
}
template <class T, class Time>
std::ostream &
SignalPtr<T, Time>::displayDependencies(std::ostream &os, const int depth,
std::string space, std::string next1,
std::string next2) const {
std::ostream &SignalPtr<T, Time>::displayDependencies(std::ostream &os,
const int depth,
std::string space,
std::string next1,
std::string next2) const {
dgTDEBUGIN(25);
if ((isAbstractPluged()) && (!autoref())) {
getAbstractPtr()->displayDependencies(
......@@ -220,6 +224,6 @@ SignalPtr<T, Time>::displayDependencies(std::ostream &os, const int depth,
return os;
}
} // end of namespace dynamicgraph.
} // end of namespace dynamicgraph.
#endif //! DYNAMIC_GRAPH_SIGNAL_PTR_T_CPP
#endif //! DYNAMIC_GRAPH_SIGNAL_PTR_T_CPP
include/dynamic-graph/signal-time-dependent.h
View file @ 99c5f364
......@@ -64,7 +64,7 @@ class SignalTimeDependent : public virtual Signal<T, Time>,
public TimeDependency<Time> {
// TimeDependency<Time> timeDependency;
public:
public:
SignalTimeDependent(std::string name = "");
SignalTimeDependent(const SignalArray_const<Time> &arr,
std::string name = "");
......@@ -163,6 +163,6 @@ Time SignalTimeDependent<T, Time>::getPeriodTime() const {
return TimeDependency<Time>::getPeriodTime();
}
} // end of namespace dynamicgraph
} // end of namespace dynamicgraph
#endif //! DYNAMIC_GRAPH_SIGNAL_TIME_DEPENDENT_H
#endif //! DYNAMIC_GRAPH_SIGNAL_TIME_DEPENDENT_H
include/dynamic-graph/signal.h
View file @ 99c5f364
......@@ -10,14 +10,13 @@
#ifndef __SIGNAL_HH
#define __SIGNAL_HH
#include <dynamic-graph/exception-signal.h>
#include <dynamic-graph/signal-base.h>
#include <boost/bind.hpp>
#include <boost/function.hpp>
#include <string>
#include <dynamic-graph/exception-signal.h>
#include <dynamic-graph/signal-base.h>
#ifdef HAVE_LIBBOOST_THREAD
#include <boost/thread.hpp>
#endif
......@@ -38,8 +37,9 @@ namespace dynamicgraph {
\li using the function setFunction(boost::function2) that will be called
when the signal's value is accessed.
*/
template <class T, class Time> class Signal : public SignalBase<Time> {
protected:
template <class T, class Time>
class Signal : public SignalBase<Time> {
protected:
enum SignalType { CONSTANT, REFERENCE, REFERENCE_NON_CONST, FUNCTION };
static const SignalType SIGNAL_TYPE_DEFAULT = CONSTANT;
......@@ -55,7 +55,7 @@ protected:
bool keepReference;
const static bool KEEP_REFERENCE_DEFAULT = false;
public:
public:
#ifdef HAVE_LIBBOOST_THREAD
typedef boost::try_mutex Mutex;
typedef boost::lock_error MutexError;
......@@ -64,14 +64,14 @@ public:
typedef int *MutexError;
#endif
protected:
protected:
Mutex *providerMutex;
using SignalBase<Time>::signalTime;
public:
public:
using SignalBase<Time>::setReady;
public:
public:
/* --- Constructor/destrusctor --- */
Signal(std::string name);
virtual ~Signal() {}
......@@ -106,23 +106,23 @@ public:
aClassName = typeid(this).name();
}
public:
public:
/// checkCompatibility is used to get the object contained in the
/// signal. This used to verify if a dynamic cast is possible or not.
virtual void checkCompatibility() { throw Tcopy; }
private:
private:
const T &setTcopy(const T &t);
T &getTwork();
const T &getTwork() const;
const T &switchTcopy();
};
} // end of namespace dynamicgraph
} // end of namespace dynamicgraph
#include <dynamic-graph/signal.t.cpp>
#endif // #ifndef __SIGNAL_HH
#endif // #ifndef __SIGNAL_HH
/*
* Local variables:
......
include/dynamic-graph/signal.t.cpp
View file @ 99c5f364
......@@ -12,10 +12,10 @@
#define VP_TEMPLATE_DEBUG_MODE 0
#include <dynamic-graph/debug.h>
#define __SIGNAL_INIT(name, Tcpy, Tref, TrefNC, mutex) \
SignalBase<Time>(name), signalType(SIGNAL_TYPE_DEFAULT), Tcopy1(Tcpy), \
Tcopy2(Tcpy), Tcopy(&Tcopy1), Treference(Tref), \
TreferenceNonConst(TrefNC), Tfunction(), \
#define __SIGNAL_INIT(name, Tcpy, Tref, TrefNC, mutex) \
SignalBase<Time>(name), signalType(SIGNAL_TYPE_DEFAULT), Tcopy1(Tcpy), \
Tcopy2(Tcpy), Tcopy(&Tcopy1), Treference(Tref), \
TreferenceNonConst(TrefNC), Tfunction(), \
keepReference(KEEP_REFERENCE_DEFAULT), providerMutex(mutex)
namespace dynamicgraph {
......@@ -52,7 +52,8 @@ void Signal<T, Time>::trace(std::ostream &os) const {
/* ------------------------------------------------------------------------ */
template <class T, class Time> const T &Signal<T, Time>::setTcopy(const T &t) {
template <class T, class Time>
const T &Signal<T, Time>::setTcopy(const T &t) {
if (Tcopy == &Tcopy1) {
Tcopy2 = t;
copyInit = true;
......@@ -66,21 +67,24 @@ template <class T, class Time> const T &Signal<T, Time>::setTcopy(const T &t) {
}
}
template <class T, class Time> T &Signal<T, Time>::getTwork() {
template <class T, class Time>
T &Signal<T, Time>::getTwork() {
if (Tcopy == &Tcopy1)
return Tcopy2;
else
return Tcopy1;
}
template <class T, class Time> const T &Signal<T, Time>::getTwork() const {
template <class T, class Time>
const T &Signal<T, Time>::getTwork() const {
if (Tcopy == &Tcopy1)
return Tcopy2;
else
return Tcopy1;
}
template <class T, class Time> const T &Signal<T, Time>::switchTcopy() {
template <class T, class Time>
const T &Signal<T, Time>::switchTcopy() {
if (Tcopy == &Tcopy1) {
Tcopy = &Tcopy2;
return Tcopy2;
......@@ -90,7 +94,8 @@ template <class T, class Time> const T &Signal<T, Time>::switchTcopy() {
}
}
template <class T, class Time> void Signal<T, Time>::setConstant(const T &t) {
template <class T, class Time>
void Signal<T, Time>::setConstant(const T &t) {
signalType = CONSTANT;
setTcopy(t);
setReady();
......@@ -125,62 +130,64 @@ void Signal<T, Time>::setFunction(boost::function2<T &, T &, Time> t,
setReady();
}
template <class T, class Time> const T &Signal<T, Time>::accessCopy() const {
template <class T, class Time>
const T &Signal<T, Time>::accessCopy() const {
return *Tcopy;
}
template <class T, class Time> const T &Signal<T, Time>::access(const Time &t) {
template <class T, class Time>
const T &Signal<T, Time>::access(const Time &t) {
switch (signalType) {
case REFERENCE:
case REFERENCE_NON_CONST: {
if (NULL == providerMutex) {
copyInit = true;
signalTime = t;
return setTcopy(*Treference);
} else {
try {
#ifdef HAVE_LIBBOOST_THREAD
boost::try_mutex::scoped_try_lock lock(*providerMutex);
#endif
case REFERENCE:
case REFERENCE_NON_CONST: {
if (NULL == providerMutex) {
copyInit = true;
signalTime = t;
return setTcopy(*Treference);
} catch (const MutexError &) {
return accessCopy();
} else {
try {
#ifdef HAVE_LIBBOOST_THREAD
boost::try_mutex::scoped_try_lock lock(*providerMutex);
#endif
copyInit = true;
signalTime = t;
return setTcopy(*Treference);
} catch (const MutexError &) {
return accessCopy();
}
}
}
break;
}
break;
}
case FUNCTION: {
if (NULL == providerMutex) {
signalTime = t;
Tfunction(getTwork(), t);
copyInit = true;
return switchTcopy();
} else {
try {
#ifdef HAVE_LIBBOOST_THREAD
boost::try_mutex::scoped_try_lock lock(*providerMutex);
#endif
case FUNCTION: {
if (NULL == providerMutex) {
signalTime = t;
Tfunction(getTwork(), t);
copyInit = true;
return switchTcopy();
} catch (const MutexError &) {
return accessCopy();
} else {
try {
#ifdef HAVE_LIBBOOST_THREAD
boost::try_mutex::scoped_try_lock lock(*providerMutex);
#endif
signalTime = t;
Tfunction(getTwork(), t);
copyInit = true;
return switchTcopy();
} catch (const MutexError &) {
return accessCopy();
}
}
break;
}
break;
}
case CONSTANT:
default:
if (this->getReady()) {
setReady(false);
this->setTime(t);
}
return accessCopy();
case CONSTANT:
default:
if (this->getReady()) {
setReady(false);
this->setTime(t);
}
return accessCopy();
};
}
......@@ -211,23 +218,23 @@ template <class T, class Time>
std::ostream &Signal<T, Time>::display(std::ostream &os) const {
os << "Sig:" << this->name << " (Type ";
switch (this->signalType) {
case Signal<T, Time>::CONSTANT:
os << "Cst";
break;
case Signal<T, Time>::REFERENCE:
os << "Ref";
break;
case Signal<T, Time>::REFERENCE_NON_CONST:
os << "RefNonCst";
break;
case Signal<T, Time>::FUNCTION:
os << "Fun";
break;
case Signal<T, Time>::CONSTANT:
os << "Cst";
break;
case Signal<T, Time>::REFERENCE:
os << "Ref";
break;
case Signal<T, Time>::REFERENCE_NON_CONST:
os << "RefNonCst";
break;
case Signal<T, Time>::FUNCTION:
os << "Fun";
break;
}
return os << ")";
}
} // end of namespace dynamicgraph.
} // end of namespace dynamicgraph.
#undef __SIGNAL_INIT
#endif //! DYNAMIC_GRAPH_SIGNAL_T_CPP
#endif //! DYNAMIC_GRAPH_SIGNAL_T_CPP
include/dynamic-graph/time-dependency.h
View file @ 99c5f364
......@@ -5,23 +5,24 @@
#ifndef DYNAMIC_GRAPH_TIME_DEPENDENCY_H
#define DYNAMIC_GRAPH_TIME_DEPENDENCY_H
#include <list>
#include <dynamic-graph/fwd.hh>
#include <dynamic-graph/signal-array.h>
#include <dynamic-graph/signal-base.h>
#include <dynamic-graph/fwd.hh>
#include <list>
namespace dynamicgraph {
/** \brief A helper class for setting and specifying dependencies
between signals.
*/
template <class Time> class TimeDependency {
public:
template <class Time>
class TimeDependency {
public:
enum DependencyType { TIME_DEPENDENT, BOOL_DEPENDENT, ALWAYS_READY };
mutable Time lastAskForUpdate;
public:
public:
SignalBase<Time> &leader;
typedef std::list<const SignalBase<Time> *> Dependencies;
......@@ -36,7 +37,7 @@ public:
Time periodTime;
static const Time PERIOD_TIME_DEFAULT = 1;
public:
public:
TimeDependency(SignalBase<Time> *sig,
const DependencyType dep = DEPENDENCY_TYPE_DEFAULT);
TimeDependency(SignalBase<Time> *sig, const SignalArray_const<Time> &arr,
......@@ -67,7 +68,7 @@ public:
Time getPeriodTime() const { return periodTime; }
};
} // end of namespace dynamicgraph
} // end of namespace dynamicgraph
#include <dynamic-graph/time-dependency.t.cpp>
#endif //! DYNAMIC_GRAPH_TIME_DEPENDENCY_H
#endif //! DYNAMIC_GRAPH_TIME_DEPENDENCY_H
include/dynamic-graph/time-dependency.t.cpp
View file @ 99c5f364
......@@ -11,8 +11,8 @@
#define VP_TEMPLATE_DEBUG_MODE 0
#include <dynamic-graph/debug.h>
#define __TIME_DEPENDENCY_INIT(sig, dep) \
leader(*sig), dependencies(), updateFromAllChildren(ALL_READY_DEFAULT), \
#define __TIME_DEPENDENCY_INIT(sig, dep) \
leader(*sig), dependencies(), updateFromAllChildren(ALL_READY_DEFAULT), \
dependencyType(dep), periodTime(PERIOD_TIME_DEFAULT)
namespace dynamicgraph {
......@@ -49,7 +49,8 @@ void TimeDependency<Time>::removeDependency(const SignalBase<Time> &sig) {
dependencies.remove(&sig);
}
template <class Time> void TimeDependency<Time>::clearDependency() {
template <class Time>
void TimeDependency<Time>::clearDependency() {
dependencies.clear();
}
......@@ -68,19 +69,19 @@ bool TimeDependency<Time>::needUpdate(const Time &t1) const {
}
switch (dependencyType) {
case ALWAYS_READY: {
dgTDEBUGOUT(15);
return true;
}
case BOOL_DEPENDENT:
break;
case TIME_DEPENDENT: {
if (t1 < leader.getTime() + periodTime) {
case ALWAYS_READY: {
dgTDEBUGOUT(15);
return false;
return true;
}
case BOOL_DEPENDENT:
break;
case TIME_DEPENDENT: {
if (t1 < leader.getTime() + periodTime) {
dgTDEBUGOUT(15);
return false;
}
break;
}
break;
}
};
bool res = updateFromAllChildren;
......@@ -117,24 +118,23 @@ std::ostream &TimeDependency<Time>::writeGraph(std::ostream &os) const {
}
template <class Time>
std::ostream &
TimeDependency<Time>::displayDependencies(std::ostream &os, const int depth,
std::string space, std::string next1,
std::string next2) const {
std::ostream &TimeDependency<Time>::displayDependencies(
std::ostream &os, const int depth, std::string space, std::string next1,
std::string next2) const {
leader.SignalBase<Time>::displayDependencies(os, depth, space, next1, next2)
<< " (";
switch (dependencyType) {
case ALWAYS_READY:
os << "A";
break;
case BOOL_DEPENDENT:
os << "ready=" << ((leader.getReady()) ? "TRUE" : "FALSE");
break;
case TIME_DEPENDENT:
os << "t=" << leader.getTime() << " (/" << periodTime << ") ";
break;
case ALWAYS_READY:
os << "A";
break;
case BOOL_DEPENDENT:
os << "ready=" << ((leader.getReady()) ? "TRUE" : "FALSE");
break;
case TIME_DEPENDENT:
os << "t=" << leader.getTime() << " (/" << periodTime << ") ";
break;
};
os << ")"; //<<std::endl;
os << ")"; //<<std::endl;
{
const typename Dependencies::const_iterator itend = dependencies.end();
for (typename Dependencies::const_iterator it = dependencies.begin();
......@@ -159,7 +159,7 @@ TimeDependency<Time>::displayDependencies(std::ostream &os, const int depth,
return os;
}
} // end of namespace dynamicgraph
} // end of namespace dynamicgraph
#undef __TIME_DEPENDENCY_INIT
#endif //! DYNAMIC_GRAPH_TIME_DEPENDENCY_T_CPP
#endif //! DYNAMIC_GRAPH_TIME_DEPENDENCY_T_CPP
include/dynamic-graph/tracer-real-time.h
View file @ 99c5f364
......@@ -5,25 +5,25 @@
#ifndef DYNAMIC_GRAPH_TRACER_REAL_TIME_H
#define DYNAMIC_GRAPH_TRACER_REAL_TIME_H
#include <sstream>
#include <dynamic-graph/tracer.h>
#include <dynamic-graph/config-tracer-real-time.hh>
#include <dynamic-graph/fwd.hh>
#include <dynamic-graph/tracer.h>
#include <sstream>
namespace dynamicgraph {
/// \ingroup plugin
///
/// \brief Stream for the tracer real-time.
class DG_TRACERREALTIME_DLLAPI OutStringStream : public std::ostringstream {
public:
public:
char *buffer;
std::streamsize index;
std::streamsize bufferSize;
bool full;
std::string givenname;
public:
public:
OutStringStream();
~OutStringStream();
......@@ -39,7 +39,7 @@ public:
class DG_TRACERREALTIME_DLLAPI TracerRealTime : public Tracer {
DYNAMIC_GRAPH_ENTITY_DECL();
public:
public:
TracerRealTime(const std::string &n);
virtual ~TracerRealTime() {}
......@@ -47,8 +47,8 @@ public:
virtual void trace();
void display(std::ostream &os) const;
DG_TRACERREALTIME_DLLAPI friend std::ostream &
operator<<(std::ostream &os, const TracerRealTime &t);
DG_TRACERREALTIME_DLLAPI friend std::ostream &operator<<(
std::ostream &os, const TracerRealTime &t);
void emptyBuffers();
......@@ -56,18 +56,18 @@ public:
const int &getBufferSize() { return bufferSize; }
protected:
protected:
virtual void openFile(const SignalBase<int> &sig,
const std::string &filename);
virtual void recordSignal(std::ostream &os, const SignalBase<int> &sig);
typedef std::list<std::ofstream *> HardFileList;
static const int BUFFER_SIZE_DEFAULT = 1048576; // 1Mo
static const int BUFFER_SIZE_DEFAULT = 1048576; // 1Mo
int bufferSize;
HardFileList hardFiles;
};
} // end of namespace dynamicgraph
} // end of namespace dynamicgraph
#endif //! DYNAMIC_GRAPH_TRACER_REAL_TIME_H
#endif //! DYNAMIC_GRAPH_TRACER_REAL_TIME_H
include/dynamic-graph/tracer.h
View file @ 99c5f364
......@@ -5,18 +5,17 @@
#ifndef DYNAMIC_GRAPH_TRACER_H
#define DYNAMIC_GRAPH_TRACER_H
#include <boost/function.hpp>
#include <list>
#include <mutex>
#include <string>
#include <dynamic-graph/entity.h>
#include <dynamic-graph/exception-traces.h>
#include <dynamic-graph/signal-base.h>
#include <dynamic-graph/signal-time-dependent.h>
#include <dynamic-graph/time-dependency.h>
#include <boost/function.hpp>
#include <dynamic-graph/config-tracer.hh>
#include <list>
#include <mutex>
#include <string>
namespace dynamicgraph {
/// \ingroup plugin
......@@ -25,12 +24,12 @@ namespace dynamicgraph {
class DG_TRACER_DLLAPI Tracer : public Entity {
DYNAMIC_GRAPH_ENTITY_DECL();
protected:
protected:
typedef std::list<const SignalBase<int> *> SignalList;
SignalList toTraceSignals;
std::mutex files_mtx;
public:
public:
enum TraceStyle {
WHEN_SAID
/// Record, then trace to file only when said to.
......@@ -56,7 +55,7 @@ public:
bool play;
int timeStart;
public:
public:
Tracer(const std::string n);
virtual ~Tracer() { closeFiles(); }
......@@ -70,11 +69,11 @@ public:
const std::string &suffix);
virtual void closeFiles();
protected:
protected:
virtual void openFile(const SignalBase<int> &sig,
const std::string &filename);
public:
public:
void setTraceStyle(const TraceStyle &style) { traceStyle = style; }
TraceStyle getTraceStyle() { return traceStyle; }
......@@ -89,7 +88,7 @@ public:
void start() { play = true; }
void stop() { play = false; }
public:
public:
// SignalTrigerer<int> triger;
SignalTimeDependent<int, int> triger;
......@@ -101,6 +100,6 @@ public:
void display(std::ostream &os) const;
};
} // end of namespace dynamicgraph
} // end of namespace dynamicgraph
#endif //! DYNAMIC_GRAPH_TRACER_H
#endif //! DYNAMIC_GRAPH_TRACER_H
include/dynamic-graph/value.h
View file @ 99c5f364
......@@ -7,25 +7,29 @@
#ifndef DYNAMIC_GRAPH_VALUE_H
#define DYNAMIC_GRAPH_VALUE_H
#include "dynamic-graph/dynamic-graph-api.h"
#include <cassert>
#include <dynamic-graph/linear-algebra.h>
#include <cassert>
#include <string>
#include <typeinfo>
#include <vector>
#include "dynamic-graph/dynamic-graph-api.h"
namespace dynamicgraph {
namespace command {
class Value;
typedef std::vector<Value> Values;
class DYNAMIC_GRAPH_DLLAPI EitherType {
public:
public:
EitherType(const Value &value);
~EitherType();
operator bool() const;
operator unsigned() const;
operator unsigned long int() const;
operator int() const;
operator long int() const;
operator float() const;
operator double() const;
operator std::string() const;
......@@ -34,7 +38,7 @@ public:
operator Eigen::Matrix4d() const;
operator Values() const;
private:
private:
const Value *value_;
};
......@@ -44,12 +48,14 @@ private:
*/
class DYNAMIC_GRAPH_DLLAPI Value {
public:
public:
enum Type {
NONE,
BOOL,
UNSIGNED,
UNSIGNEDLONGINT,
INT,
LONGINT,
FLOAT,
DOUBLE,
STRING,
......@@ -63,7 +69,9 @@ public:
void deleteValue();
explicit Value(const bool &value);
explicit Value(const unsigned &value);
explicit Value(const unsigned long int &value);
explicit Value(const int &value);
explicit Value(const long int &value);
explicit Value(const float &value);
explicit Value(const double &value);
explicit Value(const std::string &value);
......@@ -101,11 +109,13 @@ public:
DYNAMIC_GRAPH_DLLAPI friend std::ostream &operator<<(std::ostream &os,
const Value &value);
public:
public:
friend class EitherType;
bool boolValue() const;
unsigned unsignedValue() const;
unsigned long int unsignedlongintValue() const;
int intValue() const;
long int longintValue() const;
float floatValue() const;
double doubleValue() const;
std::string stringValue() const;
......@@ -122,10 +132,11 @@ public:
// Note: to ensure the WIN32 compatibility, it is necessary to export
// the template specialization. Also, it is forbidden to do the template
// specialization declaration in the header file, for the same reason.
template <typename T> struct DYNAMIC_GRAPH_DLLAPI ValueHelper {
template <typename T>
struct DYNAMIC_GRAPH_DLLAPI ValueHelper {
static const Value::Type TypeID;
};
} // namespace command
} // namespace dynamicgraph
} // namespace command
} // namespace dynamicgraph
#endif // DYNAMIC_GRAPH_VALUE_H
#endif // DYNAMIC_GRAPH_VALUE_H
js/view_sot_dg.html
View file @ 99c5f364
......@@ -6,7 +6,7 @@
<script>
function renderDOTFile() {
var fileInputElement = document.getElementById("fileInputElement");
var reader = new FileReader();
var graphtextres = ""
reader.onloadend = function(e) {
......@@ -27,7 +27,7 @@
.catch(error => {
// Create a new Viz instance (@see Caveats page for more info)
viz = new Viz();
// Possibly display the error
console.error(error);
});
......@@ -37,7 +37,7 @@
</script>
<input type="file" id="fileInputElement">
<input type="file" id="fileInputElement">
<input id="Rendering" type="button" value="Rendering" onclick="renderDOTFile();" />
<script>
var el = document.getElementById("Rendering");
......@@ -49,4 +49,3 @@
</body>
</html>
package.xml
View file @ 99c5f364
<?xml version="1.0"?>
<package format="3">
<name>dynamic-graph</name>
<version>4.4.0</version>
<version>4.4.1</version>
<description>
Dynamic graph library
</description>
......
src/command/command.cpp
View file @ 99c5f364
......@@ -5,9 +5,11 @@
//
#include "dynamic-graph/command.h"
#include "dynamic-graph/exception-abstract.h"
#include <sstream>
#include "dynamic-graph/exception-abstract.h"
namespace dynamicgraph {
namespace command {
......@@ -51,5 +53,5 @@ Value Command::execute() { return doExecute(); }
Entity &Command::owner() { return owner_; }
std::string Command::getDocstring() const { return docstring_; }
} // namespace command
} // namespace dynamicgraph
} // namespace command
} // namespace dynamicgraph
src/command/value.cpp
View file @ 99c5f364
......@@ -5,6 +5,7 @@
//
#include "dynamic-graph/value.h"
#include "dynamic-graph/exception-abstract.h"
namespace dynamicgraph {
......@@ -21,7 +22,11 @@ EitherType::~EitherType() {
EitherType::operator bool() const { return value_->boolValue(); }
EitherType::operator unsigned() const { return value_->unsignedValue(); }
EitherType::operator unsigned long int() const {
return value_->unsignedlongintValue();
}
EitherType::operator int() const { return value_->intValue(); }
EitherType::operator long int() const { return value_->longintValue(); }
EitherType::operator float() const { return value_->floatValue(); }
EitherType::operator double() const { return value_->doubleValue(); }
EitherType::operator std::string() const { return value_->stringValue(); }
......@@ -33,37 +38,47 @@ EitherType::operator Values() const { return value_->valuesValue(); }
void Value::deleteValue() {
switch (type_) {
case BOOL:
delete (const bool *)value_;
break;
case UNSIGNED:
delete (const unsigned *)value_;
break;
case INT:
delete (const int *)value_;
break;
case FLOAT:
delete (const float *)value_;
break;
case DOUBLE:
delete (const double *)value_;
break;
case STRING:
delete (const std::string *)value_;
break;
case VECTOR:
delete (const Vector *)value_;
break;
case MATRIX:
delete (const Eigen::MatrixXd *)value_;
break;
case MATRIX4D:
delete (const Eigen::Matrix4d *)value_;
break;
case VALUES:
delete (const Values *)value_;
break;
default:;
case BOOL:
delete (const bool *)value_;
break;
case UNSIGNED:
delete (const unsigned *)value_;
break;
case UNSIGNEDLONGINT:
delete (const unsigned long int *)value_;
break;
case INT:
delete (const int *)value_;
break;
case LONGINT:
delete (const long int *)value_;
break;
case FLOAT:
delete (const float *)value_;
break;
case DOUBLE:
delete (const double *)value_;
break;
case STRING:
delete (const std::string *)value_;
break;
case VECTOR:
delete (const Vector *)value_;
break;
case MATRIX:
delete (const Eigen::MatrixXd *)value_;
break;
case MATRIX4D:
delete (const Eigen::Matrix4d *)value_;
break;
case VALUES:
delete (const Values *)value_;
break;
case NONE: /* Equivalent to void */
break;
default:
throw "Value::deleteValue : Undefined type";
;
}
}
......@@ -72,6 +87,8 @@ Value::~Value() { deleteValue(); }
Value::Value(const bool &value) : type_(BOOL), value_(new bool(value)) {}
Value::Value(const unsigned &value)
: type_(UNSIGNED), value_(new unsigned(value)) {}
Value::Value(const unsigned long int &value)
: type_(UNSIGNEDLONGINT), value_(new unsigned long int(value)) {}
Value::Value(const int &value) : type_(INT), value_(new int(value)) {}
Value::Value(const float &value) : type_(FLOAT), value_(new float(value)) {}
Value::Value(const double &value) : type_(DOUBLE), value_(new double(value)) {}
......@@ -90,42 +107,47 @@ Value::Value(const Value &value)
void *copyValue(const Value &value) {
void *copy;
switch (value.type()) {
case Value::NONE:
copy = NULL;
break;
case Value::BOOL:
copy = new bool(value.boolValue());
break;
case Value::UNSIGNED:
copy = new unsigned(value.unsignedValue());
break;
case Value::INT:
copy = new int(value.intValue());
break;
case Value::FLOAT:
copy = new float(value.floatValue());
break;
case Value::DOUBLE:
copy = new double(value.doubleValue());
break;
case Value::STRING:
copy = new std::string(value.stringValue());
break;
case Value::VECTOR:
copy = new Vector(value.vectorValue());
break;
case Value::MATRIX:
copy = new Eigen::MatrixXd(value.matrixXdValue());
break;
case Value::MATRIX4D:
copy = new Eigen::Matrix4d(value.matrix4dValue());
break;
case Value::VALUES:
copy = new Values(value.valuesValue());
break;
default:
abort();
case Value::NONE:
copy = NULL;
break;
case Value::BOOL:
copy = new bool(value.boolValue());
break;
case Value::UNSIGNED:
copy = new unsigned(value.unsignedValue());
break;
case Value::UNSIGNEDLONGINT:
copy = new unsigned long int(value.unsignedlongintValue());
break;
case Value::INT:
copy = new int(value.intValue());
break;
case Value::LONGINT:
copy = new long int(value.longintValue());
break;
case Value::FLOAT:
copy = new float(value.floatValue());
break;
case Value::DOUBLE:
copy = new double(value.doubleValue());
break;
case Value::STRING:
copy = new std::string(value.stringValue());
break;
case Value::VECTOR:
copy = new Vector(value.vectorValue());
break;
case Value::MATRIX:
copy = new Eigen::MatrixXd(value.matrixXdValue());
break;
case Value::MATRIX4D:
copy = new Eigen::Matrix4d(value.matrix4dValue());
break;
case Value::VALUES:
copy = new Values(value.valuesValue());
break;
default:
abort();
}
return copy;
}
......@@ -134,8 +156,7 @@ Value::Value() : type_(NONE), value_(NULL) {}
Value Value::operator=(const Value &value) {
if (&value != this) {
if (value_ != 0x0)
deleteValue();
if (value_ != 0x0) deleteValue();
type_ = value.type_;
void **ptValue = const_cast<void **>(&value_);
*ptValue = copyValue(value);
......@@ -144,33 +165,34 @@ Value Value::operator=(const Value &value) {
}
bool Value::operator==(const Value &other) const {
if (type_ != other.type_)
return false;
if (type_ != other.type_) return false;
switch (type_) {
case Value::BOOL:
return boolValue() == other.boolValue();
case Value::UNSIGNED:
return unsignedValue() == other.unsignedValue();
case Value::INT:
return intValue() == other.intValue();
case Value::DOUBLE:
return doubleValue() == other.doubleValue();
case Value::FLOAT:
return floatValue() == other.floatValue();
case Value::STRING:
return stringValue() == other.stringValue();
case Value::VECTOR:
return vectorValue() == other.vectorValue();
case Value::MATRIX:
return matrixXdValue() == other.matrixXdValue();
case Value::MATRIX4D:
return matrix4dValue() == other.matrix4dValue();
case Value::VALUES:
return constValuesValue() == other.constValuesValue();
case Value::NONE:
break;
default:
break;
case Value::BOOL:
return boolValue() == other.boolValue();
case Value::UNSIGNED:
return unsignedValue() == other.unsignedValue();
case Value::UNSIGNEDLONGINT:
return unsignedlongintValue() == other.unsignedlongintValue();
case Value::INT:
return intValue() == other.intValue();
case Value::DOUBLE:
return doubleValue() == other.doubleValue();
case Value::FLOAT:
return floatValue() == other.floatValue();
case Value::STRING:
return stringValue() == other.stringValue();
case Value::VECTOR:
return vectorValue() == other.vectorValue();
case Value::MATRIX:
return matrixXdValue() == other.matrixXdValue();
case Value::MATRIX4D:
return matrix4dValue() == other.matrix4dValue();
case Value::VALUES:
return constValuesValue() == other.constValuesValue();
case Value::NONE:
break;
default:
break;
}
return false;
}
......@@ -180,22 +202,30 @@ const EitherType Value::value() const { return EitherType(*this); }
Value::Type Value::type() const { return type_; }
bool Value::boolValue() const {
if (type_ == BOOL)
return *((const bool *)value_);
if (type_ == BOOL) return *((const bool *)value_);
throw ExceptionAbstract(ExceptionAbstract::TOOLS, "value is not an bool");
}
unsigned Value::unsignedValue() const {
if (type_ == UNSIGNED)
return *((const unsigned *)value_);
if (type_ == UNSIGNED) return *((const unsigned *)value_);
throw ExceptionAbstract(ExceptionAbstract::TOOLS,
"value is not an unsigned int");
}
unsigned long int Value::unsignedlongintValue() const {
if (type_ == UNSIGNEDLONGINT) return *((const unsigned long int *)value_);
throw ExceptionAbstract(ExceptionAbstract::TOOLS,
"value is not an unsigned long int");
}
long int Value::longintValue() const {
if (type_ == LONGINT) return *((const long int *)value_);
throw ExceptionAbstract(ExceptionAbstract::TOOLS, "value is not an long int");
}
int Value::intValue() const {
if (type_ == INT)
return *((const int *)value_);
throw ExceptionAbstract(ExceptionAbstract::TOOLS, "value is not an int int");
if (type_ == INT) return *((const int *)value_);
throw ExceptionAbstract(ExceptionAbstract::TOOLS, "value is not an int");
}
float Value::floatValue() const {
......@@ -215,127 +245,138 @@ double Value::doubleValue() const {
}
std::string Value::stringValue() const {
if (type_ == STRING)
return *((const std::string *)value_);
if (type_ == STRING) return *((const std::string *)value_);
throw ExceptionAbstract(ExceptionAbstract::TOOLS, "value is not an string");
}
Vector Value::vectorValue() const {
if (type_ == VECTOR)
return *((const Vector *)value_);
if (type_ == VECTOR) return *((const Vector *)value_);
throw ExceptionAbstract(ExceptionAbstract::TOOLS, "value is not an vector");
}
Eigen::MatrixXd Value::matrixXdValue() const {
if (type_ == MATRIX)
return *((const Eigen::MatrixXd *)value_);
if (type_ == MATRIX) return *((const Eigen::MatrixXd *)value_);
throw ExceptionAbstract(ExceptionAbstract::TOOLS,
"value is not a Eigen matrixXd");
}
Eigen::Matrix4d Value::matrix4dValue() const {
if (type_ == MATRIX4D)
return *((const Eigen::Matrix4d *)value_);
if (type_ == MATRIX4D) return *((const Eigen::Matrix4d *)value_);
throw ExceptionAbstract(ExceptionAbstract::TOOLS,
"value is not a Eigen matrix4d");
}
Values Value::valuesValue() const {
if (type_ == VALUES)
return *((const Values *)value_);
if (type_ == VALUES) return *((const Values *)value_);
throw ExceptionAbstract(ExceptionAbstract::TOOLS,
"value is not a vector of Value");
}
const Values &Value::constValuesValue() const {
if (type_ == VALUES)
return *((const Values *)value_);
if (type_ == VALUES) return *((const Values *)value_);
throw ExceptionAbstract(ExceptionAbstract::TOOLS,
"value is not a vector of Value");
}
std::string Value::typeName(Type type) {
switch (type) {
case BOOL:
return std::string("bool");
case UNSIGNED:
return std::string("unsigned int");
case INT:
return std::string("int");
case FLOAT:
return std::string("float");
case DOUBLE:
return std::string("double");
case STRING:
return std::string("string");
case VECTOR:
return std::string("vector");
case MATRIX:
return std::string("matrixXd");
case MATRIX4D:
return std::string("matrix4d");
case VALUES:
return std::string("values");
default:
return std::string("unknown");
case BOOL:
return std::string("bool");
case UNSIGNED:
return std::string("unsigned int");
case UNSIGNEDLONGINT:
return std::string("unsigned long int");
case INT:
return std::string("int");
case FLOAT:
return std::string("float");
case DOUBLE:
return std::string("double");
case STRING:
return std::string("string");
case VECTOR:
return std::string("vector");
case MATRIX:
return std::string("matrixXd");
case MATRIX4D:
return std::string("matrix4d");
case VALUES:
return std::string("values");
default:
return std::string("unknown");
}
}
std::ostream &operator<<(std::ostream &os, const Value &value) {
os << "Type=" << Value::typeName(value.type_) << ", value=";
switch (value.type_) {
case Value::BOOL:
os << value.boolValue();
break;
case Value::UNSIGNED:
os << value.unsignedValue();
break;
case Value::INT:
os << value.intValue();
break;
case Value::DOUBLE:
os << value.doubleValue();
break;
case Value::FLOAT:
os << value.floatValue();
break;
case Value::STRING:
os << value.stringValue();
break;
case Value::VECTOR:
os << value.vectorValue();
break;
case Value::MATRIX:
os << value.matrixXdValue();
break;
case Value::MATRIX4D:
os << value.matrix4dValue();
break;
case Value::VALUES: {
const std::vector<Value> &vals = value.constValuesValue();
os << "[ ";
for (std::size_t i = 0; i < vals.size(); ++i)
os << "Value(" << vals[i] << "), ";
os << "]";
} break;
default:
return os;
case Value::BOOL:
os << value.boolValue();
break;
case Value::UNSIGNED:
os << value.unsignedValue();
break;
case Value::UNSIGNEDLONGINT:
os << value.unsignedlongintValue();
break;
case Value::INT:
os << value.intValue();
break;
case Value::DOUBLE:
os << value.doubleValue();
break;
case Value::FLOAT:
os << value.floatValue();
break;
case Value::STRING:
os << value.stringValue();
break;
case Value::VECTOR:
os << value.vectorValue();
break;
case Value::MATRIX:
os << value.matrixXdValue();
break;
case Value::MATRIX4D:
os << value.matrix4dValue();
break;
case Value::VALUES: {
const std::vector<Value> &vals = value.constValuesValue();
os << "[ ";
for (std::size_t i = 0; i < vals.size(); ++i)
os << "Value(" << vals[i] << "), ";
os << "]";
} break;
default:
return os;
}
return os;
}
template <> const Value::Type ValueHelper<bool>::TypeID = Value::BOOL;
template <> const Value::Type ValueHelper<unsigned>::TypeID = Value::UNSIGNED;
template <> const Value::Type ValueHelper<int>::TypeID = Value::INT;
template <> const Value::Type ValueHelper<float>::TypeID = Value::FLOAT;
template <> const Value::Type ValueHelper<double>::TypeID = Value::DOUBLE;
template <> const Value::Type ValueHelper<std::string>::TypeID = Value::STRING;
template <> const Value::Type ValueHelper<Vector>::TypeID = Value::VECTOR;
template <>
const Value::Type ValueHelper<bool>::TypeID = Value::BOOL;
template <>
const Value::Type ValueHelper<unsigned>::TypeID = Value::UNSIGNED;
template <>
const Value::Type ValueHelper<unsigned long int>::TypeID =
Value::UNSIGNEDLONGINT;
template <>
const Value::Type ValueHelper<int>::TypeID = Value::INT;
template <>
const Value::Type ValueHelper<float>::TypeID = Value::FLOAT;
template <>
const Value::Type ValueHelper<double>::TypeID = Value::DOUBLE;
template <>
const Value::Type ValueHelper<std::string>::TypeID = Value::STRING;
template <>
const Value::Type ValueHelper<Vector>::TypeID = Value::VECTOR;
template <>
const Value::Type ValueHelper<Eigen::MatrixXd>::TypeID = Value::MATRIX;
template <>
const Value::Type ValueHelper<Eigen::Matrix4d>::TypeID = Value::MATRIX4D;
template <> const Value::Type ValueHelper<Values>::TypeID = Value::VALUES;
template <>
const Value::Type ValueHelper<Values>::TypeID = Value::VALUES;
} // namespace command
} // namespace dynamicgraph
} // namespace command
} // namespace dynamicgraph
src/debug/debug.cpp
View file @ 99c5f364
......@@ -8,6 +8,7 @@
*/
#include <dynamic-graph/debug.h>
#include <fstream>
#include <ios>
......@@ -32,7 +33,7 @@ std::ofstream dg_debugfile("/tmp/dynamic-graph-traces.txt",
#else
std::ofstream dg_debugfile;
class dgDebug_init {
public:
public:
dgDebug_init() { dg_debugfile.setstate(std::ios::failbit); }
};
dgDebug_init dgDebug_initialisator;
......@@ -42,11 +43,10 @@ dgDebug_init dgDebug_initialisator;
namespace dynamicgraph {
DebugTrace dgDEBUGFLOW(dg_debugfile);
DebugTrace dgERRORFLOW(dg_debugfile);
} // namespace dynamicgraph
} // namespace dynamicgraph
void DebugTrace::openFile(const char *filename) {
if (dg_debugfile.good() && dg_debugfile.is_open())
dg_debugfile.close();
if (dg_debugfile.good() && dg_debugfile.is_open()) dg_debugfile.close();
dg_debugfile.clear();
dg_debugfile.open(filename, std::ios::trunc & std::ios::out);
}
......