From 2d00fff920f11254713e5c93f2c6fb7cd76efc08 Mon Sep 17 00:00:00 2001
From: Mansard <nmansard@laas.fr>
Date: Wed, 22 Jun 2011 18:13:23 +0200
Subject: [PATCH] Modify SignalBase.value.
If a signal contains a data deriving from Vector or Matrix, cast content into
Matrix or Vector using plug machinery.
---
src/signal-base-py.cc | 54 +++++++++++++++++++++++++++++++++++--------
1 file changed, 45 insertions(+), 9 deletions(-)
diff --git a/src/signal-base-py.cc b/src/signal-base-py.cc
index fc3eddf..b400896 100644
--- a/src/signal-base-py.cc
+++ b/src/signal-base-py.cc
@@ -152,21 +152,57 @@ namespace dynamicgraph {
SignalBase<int>* signal = (SignalBase<int>*)pointer;
try {
- /* Temptative for specific signal type. */
- Signal<dynamicgraph::Vector,int> * sigvec
- = dynamic_cast< Signal<dynamicgraph::Vector,int>* >( signal );
- if( NULL!= sigvec )
- {
+ { // --- VECTOR SIGNALS -----------------
+ // Two cases: the signal embeds directly a vector, or embeds
+ // an object deriving from vector.In the first case,
+ // the signal is directly cast into sig<vector>.
+ // In the second case, the derived object can be access as a vector
+ // using the signal-ptr<vector> type.
+ Signal<dynamicgraph::Vector,int> * sigvec
+ = dynamic_cast< Signal<dynamicgraph::Vector,int>* >( signal );
+ if( NULL!= sigvec ) {
return vectorToPython( sigvec->accessCopy() );
}
- Signal<dynamicgraph::Matrix,int> * sigmat
- = dynamic_cast< Signal<dynamicgraph::Matrix,int>* >( signal );
- if( NULL!= sigmat )
- {
+ // Extraction of object derinving from vector: plug signal into
+ // a vector signal and get the value from the signal-ptr instead
+ // of the original vector.
+ SignalPtr<dynamicgraph::Vector,int> sigptr(NULL,"vector-caster");
+ try {
+ sigptr.plug(signal);
+ return vectorToPython( sigptr.accessCopy() );
+ }
+ catch( dynamicgraph::ExceptionSignal& ex ) {
+ if( ex.getCode() !=
+ dynamicgraph::ExceptionSignal::PLUG_IMPOSSIBLE )
+ throw;
+ }
+ }
+
+ { // --- MATRIX SIGNALS --------------------
+ // Two cases: the signal embeds directly a matrix, or embeds
+ // an object deriving from matrix.In the first case,
+ // the signal is directly cast into sig<matrix>.
+ // In the second case, the derived object can be access as a matrix
+ // using the signal-ptr<matrix> type.
+ Signal<dynamicgraph::Matrix,int> * sigmat
+ = dynamic_cast< Signal<dynamicgraph::Matrix,int>* >( signal );
+ if( NULL!= sigmat ) {
return matrixToPython( sigmat->accessCopy() );
}
+ SignalPtr<dynamicgraph::Matrix,int> sigptr(NULL,"matrix-caster");
+ try {
+ sigptr.plug(signal);
+ return matrixToPython( sigptr.accessCopy() );
+ }
+ catch( dynamicgraph::ExceptionSignal& ex ) {
+ if( ex.getCode() !=
+ dynamicgraph::ExceptionSignal::PLUG_IMPOSSIBLE )
+ throw;
+ }
+ }
+
Signal<double,int> * sigdouble
= dynamic_cast< Signal<double,int>* >( signal );
if( NULL!= sigdouble )
--
GitLab