Merge pull request #45 from jmirabel/devel

Add TimeDependency::addDependencies + doc of SignalTimeDependent

cmake @ 429af97f

-Subproject commit f34901f143d843b48dfdb8d9e904503ed96e2310
+Subproject commit 429af97fe0b858bd73a1747768cc1ac735386140

doc/Doxyfile.extra.in

@@ -6,4 +6,6 @@ IMAGE_PATH             = @CMAKE_SOURCE_DIR@/doc/pictures \
 FILE_PATTERNS          = *.cc *.cpp *.h *.hh *.hxx
 
 TAGFILES	       = \
-"@CMAKE_INSTALL_PREFIX@/share/doc/dynamic-graph-python.doxytag = @CMAKE_INSTALL_PREFIX@/share/doc/dynamic-graph-python"
+"@CMAKE_INSTALL_PREFIX@/share/doc/dynamic-graph-python.doxytag = @CMAKE_INSTALL_PREFIX@/share/doc/dynamic-graph-python"
\ No newline at end of file
+
+EXAMPLE_PATH           = @CMAKE_SOURCE_DIR@

doc/additionalDoc/debug-doc.h

@@ -13,6 +13,6 @@ WARNING, ERROR). It is described in details here: \subpage subp_logger
 int: \subpage subp_dbg_trace
 - If you just need to collect informations from signals (like rosbag). You can
 use an entity called Tracer inside the graph:\subpage tracerdoc . <br> A real
-time version exists to write directly inside a memory buffer \subpage
-tracerrealtimedoc
+time version exists to write directly inside a memory buffer
+\subpage tracerrealtimedoc
 **/

doc/additionalDoc/debug-trace-doc.h

@@ -65,5 +65,5 @@ test \endcode
 \section subp_dbg_trace_wrk_exp Working example
 
 A full working example is given here:
-\include ../tests/debug-trace.cpp
+\include tests/debug-trace.cpp
  */

doc/additionalDoc/package.h

@@ -22,8 +22,8 @@ The software graph structure is detailled in \subpage p_graph
 
 For debugging your entities detailed instructions are given in \subpage debug
 
-For citing the software in your research work please refer to \subpage
-subp_references
+For citing the software in your research work please refer to
+\subpage subp_references
 
 \namespace dynamicgraph This is the namespace where every object and class of
 this library is located.

include/dynamic-graph/entity.h

@@ -85,7 +85,7 @@ public:
 
   /** \name Logger related methods */
   /** \{*/
-  /// \brief Send messages \param msg with level t.
+  /// \brief Send messages \c msg with level \c t.
   /// Add string file and line to message.
   void sendMsg(const std::string &msg, MsgType t = MSG_TYPE_INFO,
                const char *file = "", int line = 0);

include/dynamic-graph/null-ptr.hh

@@ -5,6 +5,7 @@
 #define DYNAMIC_GRAPH_NULL_PTR_HH
 
 namespace dynamicgraph {
+/// \cond
 const class {
 public:
   template <class T> operator T *() const { return 0; }
@@ -14,6 +15,7 @@ public:
 private:
   void operator&() const;
 } nullptr = {};
+/// \endcond
 
 } // end of namespace dynamicgraph.
 

include/dynamic-graph/process-list.hh

@@ -22,7 +22,7 @@ public:
   ProcessList();
 };
 
-/// \class This class gather information on a specific CPU.
+/// This class gather information on a specific CPU.
 ///
 class DYNAMIC_GRAPH_DLLAPI CPUData {
 public:
@@ -123,7 +123,7 @@ public:
   }
 };
 
-/// \class This class gathers information on a computer.
+/// This class gathers information on a computer.
 /// This includes a list of CPU
 class DYNAMIC_GRAPH_DLLAPI System {
 private:

include/dynamic-graph/signal-time-dependent.h

@@ -13,16 +13,49 @@ namespace dynamicgraph {
   signals,
   making sure its inputs are up to date on access, using a incrementing time
   tick as reference.
-  It works this way: for a given SignalTimeDependent S, the user manually
-  adds dependent signals through the
-  use of the addDependency function. On access (calling the signal S
-  operator  () or access(Time) function),
-  if the dependent signals are not up-to-date, i.e. if their [last update]
-  time is less than the
-  current time, their value will be access ()'ed to bring them up-to-date.
-  Thus, the value of dependent
-  signals can be accessed \b quickly and \b repeatedly through the
-  accessCopy () function.
+
+  It works this way. For a given SignalTimeDependent S,
+  - the user manually adds dependent signals through the use of the SignalTimeDependent::addDependency function.
+  - On access (calling the signal S SignalTimeDependent::operator()(const Time&) or
+  SignalTimeDependent::access(const Time&) function), if the dependent signals are not
+  up-to-date, i.e. if their [last update] time is less than the current time,
+  their value will be SignalTimeDependent::access ()'ed to bring them up-to-date.
+
+  Thus, the value of dependent signals can be accessed \b quickly and
+  \b repeatedly through the Signal::accessCopy () function.
+
+  An example:
+  \code
+  class MyEntity : public Entity {
+  public:
+  // Some signal dependencies
+  SignalPtr<T,int> dep1, dep2;
+  SignalTimeDependent<T,int> signal;
+
+  MyEntity (const std::string& name)
+    : Entity (name)
+    , signal (
+        // Set the function that computes the signal value
+        boost::bind (&Entity::computeSignal, this, _1, _2),
+        // Declare the dependencies
+        dep1 << dep2,
+        "signalname")
+  {}
+
+   T& computeSignal (T& res, int time)
+   {
+     // The accesses below update the signal if necessary.
+     dep1(time);
+     dep1.access(time);
+     dep1.recompute(time);
+     // If dep1 and dep2 are already up-to-date, for a faster access, use
+     dep1.accessCopy();
+     dep2.accessCopy();
+
+     // Compute res
+     return res;
+   }
+  \endcode
 */
 template <class T, class Time>
 class SignalTimeDependent : public virtual Signal<T, Time>,

include/dynamic-graph/time-dependency.h

@@ -43,6 +43,7 @@ public:
                  const DependencyType dep = DEPENDENCY_TYPE_DEFAULT);
   virtual ~TimeDependency() {}
 
+  void addDependencies(const SignalArray_const<Time> &arr);
   void addDependency(const SignalBase<Time> &sig);
   void removeDependency(const SignalBase<Time> &sig);
   void clearDependency();

include/dynamic-graph/time-dependency.t.cpp

@@ -26,14 +26,19 @@ TimeDependency<Time>::TimeDependency(SignalBase<Time> *sig,
                                      const SignalArray_const<Time> &ar,
                                      const DependencyType dep)
     : __TIME_DEPENDENCY_INIT(sig, dep) {
-  for (unsigned int i = 0; i < ar.getSize(); ++i) {
-    addDependency(ar[i]);
-  }
+  addDependencies(ar);
 
   return;
 }
 
 /* ------------------------------------------------------------------------ */
+template <class Time>
+void TimeDependency<Time>::addDependencies(const SignalArray_const<Time> &ar) {
+  for (unsigned int i = 0; i < ar.getSize(); ++i) {
+    addDependency(ar[i]);
+  }
+}
+
 template <class Time>
 void TimeDependency<Time>::addDependency(const SignalBase<Time> &sig) {
   dependencies.push_front(&sig);