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