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  • cberge/dynamic-graph
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include/dynamic-graph/all-signals.h
View file @ 2e7a70d5
......@@ -4,12 +4,12 @@
//
#ifndef DYNAMIC_GRAPH_ALL_SIGNALS_H
# define DYNAMIC_GRAPH_ALL_SIGNALS_H
#define DYNAMIC_GRAPH_ALL_SIGNALS_H
// Utility header files including all signal headers
# include <dynamic-graph/signal.h>
# include <dynamic-graph/signal-ptr.h>
# include <dynamic-graph/signal-time-dependent.h>
#include <dynamic-graph/signal-ptr.h>
#include <dynamic-graph/signal-time-dependent.h>
#include <dynamic-graph/signal.h>
#endif //! DYNAMIC_GRAPH_ALL_SIGNALS_H
#endif //! DYNAMIC_GRAPH_ALL_SIGNALS_H
include/dynamic-graph/command-bind.h
View file @ 2e7a70d5
......@@ -10,482 +10,927 @@
/* Create a command from a bind directly. Examples are:
* addCommand("myProcVoid",
* makeCommandVoid0(*this,&ClassName::functionNoArg,
* docCommandVoid0("Simple line doc here.")));
* makeCommandVoid0(*this,&ClassName::functionNoArg,
* docCommandVoid0("Simple line doc here.")));
* addCommand("myProcOneString",
* makeCommandVoid1(*this,&EntityName::functionOneStringArg,
* docCommandVoid1("Simple line doc here.",
* "string")));
* makeCommandVoid1(*this,&EntityName::functionOneStringArg,
* docCommandVoid1("Simple line doc here.",
* "string")));
*
*/
#include "dynamic-graph/command.h"
#include <boost/assign/list_of.hpp>
#include <boost/function.hpp>
#include <boost/bind.hpp>
#include <boost/function.hpp>
#include "dynamic-graph/command.h"
/* --- FUNCTION 0 ARGS ------------------------------------------------------ */
/* --- FUNCTION 0 ARGS ----------------------------------------------------- */
namespace dynamicgraph {
namespace command {
template <class E >
struct CommandVoid0
: public Command
{
CommandVoid0(E& entity, boost::function<void(void)> function,
const std::string& docString)
:Command(entity, EMPTY_ARG, docString)
,fptr(function)
{}
protected:
virtual Value doExecute()
{
assert( getParameterValues().size() == 0 );
fptr();
return Value(); // void
}
private:
boost::function<void(void)> fptr;
};
template <class E >
CommandVoid0<E>* makeCommandVoid0(E& entity, boost::function<void(void)> function ,
const std::string& docString)
{
return new CommandVoid0<E>( entity,function,docString );
}
template <class E >
CommandVoid0<E>* makeCommandVoid0(E& entity, boost::function<void(E*)> function ,
const std::string& docString)
{
return new CommandVoid0<E>( entity,
boost::bind(function,&entity),docString );
}
template <class E >
CommandVoid0<E>* makeCommandVoid0(E& entity, void (E::*function) (void),
const std::string& docString)
{
return new CommandVoid0<E>( entity,
boost::bind(function,&entity),docString );
}
inline std::string docCommandVoid0( const std::string& doc )
{
return std::string("\n")+doc +"\n\nNo input.\nVoid return.\n\n";
}
} // namespace command
} // namespace dynamicgraph
namespace command {
template <class E>
struct CommandVoid0 : public Command {
CommandVoid0(E &entity, boost::function<void(void)> function,
const std::string &docString)
: Command(entity, EMPTY_ARG, docString), fptr(function) {}
protected:
virtual Value doExecute() {
assert(getParameterValues().size() == 0);
fptr();
return Value(); // void
}
private:
boost::function<void(void)> fptr;
};
template <class E>
CommandVoid0<E> *makeCommandVoid0(E &entity,
boost::function<void(void)> function,
const std::string &docString) {
return new CommandVoid0<E>(entity, function, docString);
}
template <class E>
CommandVoid0<E> *makeCommandVoid0(E &entity,
boost::function<void(E *)> function,
const std::string &docString) {
return new CommandVoid0<E>(entity, boost::bind(function, &entity), docString);
}
template <class E>
CommandVoid0<E> *makeCommandVoid0(E &entity, void (E::*function)(void),
const std::string &docString) {
return new CommandVoid0<E>(entity, boost::bind(function, &entity), docString);
}
inline std::string docCommandVoid0(const std::string &doc) {
return std::string("\n") + doc + "\n\nNo input.\nVoid return.\n\n";
}
} // namespace command
} // namespace dynamicgraph
/* --- FUNCTION 1 ARGS ------------------------------------------------------ */
namespace dynamicgraph {
namespace command {
template <class E,typename T >
struct CommandVoid1
: public Command
{
typedef boost::function<void(const T&)> function_t;
typedef boost::function<void(E*,const T&)> memberFunction_t;
typedef void (E::*memberFunction_ptr_t) (const T&);
CommandVoid1(E& entity, function_t function,
const std::string& docString)
:Command(entity, boost::assign::list_of(ValueHelper<T>::TypeID), docString)
,fptr(function)
{}
protected:
virtual Value doExecute()
{
assert( getParameterValues().size() == 1 );
T val = getParameterValues()[0].value();
fptr(val);
return Value(); // void
}
private:
function_t fptr;
};
template <class E,typename T >
CommandVoid1<E,T>*
makeCommandVoid1(E& entity,
boost::function<void(const T&)> function,
//typename CommandVoid1<E,T>::function_t function ,
const std::string& docString)
{
return new CommandVoid1<E,T>( entity,function,docString );
}
template <class E,typename T >
CommandVoid1<E,T>*
makeCommandVoid1(E& entity,
// The following syntaxt don't compile when not specializing the template
// arg... why ???
//typename CommandVoid1<E,T>::memberFunction_t function ,
boost::function<void(E*,const T&)> function,
const std::string& docString)
{
return new CommandVoid1<E,T>( entity,
boost::bind(function,&entity,_1),docString );
}
template <class E,typename T >
CommandVoid1<E,T>*
makeCommandVoid1(E& entity,
void (E::*function) (const T&),
const std::string& docString)
{
return new CommandVoid1<E,T>( entity,
boost::bind(function,&entity,_1),docString );
return NULL;
}
inline std::string docCommandVoid1( const std::string& doc, const std::string& type )
{
return std::string("\n")+doc +"\n\nInput:\n - A "+type+".\nVoid return.\n\n";
}
} // namespace command
} // namespace dynamicgraph
namespace command {
template <class E, typename T>
struct CommandVoid1 : public Command {
typedef boost::function<void(const T &)> function_t;
CommandVoid1(E &entity, function_t function, const std::string &docString)
: Command(entity, boost::assign::list_of(ValueHelper<T>::TypeID),
docString),
fptr(function) {}
protected:
virtual Value doExecute() {
assert(getParameterValues().size() == 1);
T val = getParameterValues()[0].value();
fptr(val);
return Value(); // void
}
private:
function_t fptr;
};
template <class E, typename T>
CommandVoid1<E, T> *makeCommandVoid1(
E &entity, boost::function<void(const T &)> function,
// typename CommandVoid1<E,T>::function_t function ,
const std::string &docString) {
return new CommandVoid1<E, T>(entity, function, docString);
}
template <class E, typename T>
CommandVoid1<E, T> *makeCommandVoid1(
E &entity,
// The following syntaxt don't compile when not specializing
// the template arg... why ???
boost::function<void(E *, const T &)> function,
const std::string &docString) {
return new CommandVoid1<E, T>(entity, boost::bind(function, &entity, _1),
docString);
}
template <class E, typename T>
CommandVoid1<E, T> *makeCommandVoid1(E &entity, void (E::*function)(const T &),
const std::string &docString) {
return new CommandVoid1<E, T>(entity, boost::bind(function, &entity, _1),
docString);
return NULL;
}
inline std::string docCommandVoid1(const std::string &doc,
const std::string &type) {
return std::string("\n") + doc + "\n\nInput:\n - A " + type +
".\nVoid return.\n\n";
}
} // namespace command
} // namespace dynamicgraph
/* --- FUNCTION 2 ARGS ------------------------------------------------------ */
namespace dynamicgraph {
namespace command {
template <class E,typename T1,typename T2 >
struct CommandVoid2
: public Command
{
typedef boost::function<void(const T1&,const T2&)> function_t;
typedef boost::function<void(E*,const T1&,const T2&)> memberFunction_t;
typedef void (E::*memberFunction_ptr_t) (const T1&,const T2&);
CommandVoid2(E& entity, function_t function,
const std::string& docString)
:Command(entity,
boost::assign::list_of
(ValueHelper<T1>::TypeID)
(ValueHelper<T2>::TypeID), docString)
,fptr(function)
{}
protected:
virtual Value doExecute()
{
assert( getParameterValues().size() == 2 );
T1 val1 = getParameterValues()[0].value();
T2 val2 = getParameterValues()[1].value();
fptr(val1,val2);
return Value(); // void
}
private:
function_t fptr;
};
template <class E,typename T1,typename T2 >
CommandVoid2<E,T1,T2>*
makeCommandVoid2(E& entity,
boost::function<void(const T1&,const T2&)> function,
const std::string& docString)
{
return new CommandVoid2<E,T1,T2>( entity,function,docString );
}
template <class E,typename T1,typename T2 >
CommandVoid2<E,T1,T2>*
makeCommandVoid2(E& entity,
// The following syntaxt don't compile when not specializing the template
// arg... why ???
//typename CommandVoid2<E,T1,T2>::memberFunction_t function ,
boost::function<void(E*,const T1&,const T2&)> function,
const std::string& docString)
{
return new CommandVoid2<E,T1,T2>( entity,
boost::bind(function,&entity,_1,_2),docString );
}
template <class E,typename T1,typename T2 >
CommandVoid2<E,T1,T2>*
makeCommandVoid2(E& entity,
void (E::*function) (const T1&,const T2&),
const std::string& docString)
{
return new CommandVoid2<E,T1,T2>( entity,
boost::bind(function,&entity,_1,_2),
docString );
return NULL;
}
inline std::string docCommandVoid2( const std::string& doc,
const std::string& type1,
const std::string& type2 )
{
return (std::string("\n")+doc+"\n\n"
+"Input:\n - A "+type1+".\n"
+"Input:\n - A "+type2+".\n"
+"Void return.\n\n" );
}
} // namespace command
} // namespace dynamicgraph
namespace command {
template <class E, typename T1, typename T2>
struct CommandVoid2 : public Command {
typedef boost::function<void(const T1 &, const T2 &)> function_t;
CommandVoid2(E &entity, function_t function, const std::string &docString)
: Command(entity,
boost::assign::list_of(ValueHelper<T1>::TypeID)(
ValueHelper<T2>::TypeID),
docString),
fptr(function) {}
protected:
virtual Value doExecute() {
assert(getParameterValues().size() == 2);
T1 val1 = getParameterValues()[0].value();
T2 val2 = getParameterValues()[1].value();
fptr(val1, val2);
return Value(); // void
}
private:
function_t fptr;
};
template <class E, typename T1, typename T2>
CommandVoid2<E, T1, T2> *makeCommandVoid2(
E &entity, boost::function<void(const T1 &, const T2 &)> function,
const std::string &docString) {
return new CommandVoid2<E, T1, T2>(entity, function, docString);
}
template <class E, typename T1, typename T2>
CommandVoid2<E, T1, T2> *makeCommandVoid2(
E &entity,
// The following syntaxt don't compile when not specializing
// the template arg... why ???
boost::function<void(E *, const T1 &, const T2 &)> function,
const std::string &docString) {
return new CommandVoid2<E, T1, T2>(
entity, boost::bind(function, &entity, _1, _2), docString);
}
template <class E, typename T1, typename T2>
CommandVoid2<E, T1, T2> *makeCommandVoid2(E &entity,
void (E::*function)(const T1 &,
const T2 &),
const std::string &docString) {
return new CommandVoid2<E, T1, T2>(
entity, boost::bind(function, &entity, _1, _2), docString);
return NULL;
}
inline std::string docCommandVoid2(const std::string &doc,
const std::string &type1,
const std::string &type2) {
return (std::string("\n") + doc + "\n\n" + "Input:\n - A " + type1 + ".\n" +
"Input:\n - A " + type2 + ".\n" + "Void return.\n\n");
}
} // namespace command
} // namespace dynamicgraph
/* --- FUNCTION 3 ARGS ------------------------------------------------------ */
namespace dynamicgraph {
namespace command {
template <class E,typename T1,typename T2,typename T3 >
struct CommandVoid3
: public Command
{
typedef boost::function<void(const T1&,const T2&,const T3&)> function_t;
typedef boost::function<void(E*,const T1&,const T2&,const T3&)> memberFunction_t;
typedef void (E::*memberFunction_ptr_t) (const T1&,const T2&,const T3);
CommandVoid3(E& entity, function_t function,
const std::string& docString)
:Command(entity,
boost::assign::list_of
(ValueHelper<T1>::TypeID)
(ValueHelper<T2>::TypeID)
(ValueHelper<T3>::TypeID), docString)
,fptr(function)
{}
protected:
virtual Value doExecute()
{
assert( getParameterValues().size() == 3 );
T1 val1 = getParameterValues()[0].value();
T2 val2 = getParameterValues()[1].value();
T3 val3 = getParameterValues()[2].value();
fptr(val1,val2,val3);
return Value(); // void
}
private:
function_t fptr;
};
template <class E,typename T1,typename T2,typename T3 >
CommandVoid3<E,T1,T2,T3>*
makeCommandVoid3(E& entity,
typename CommandVoid3<E,T1,T2,T3>::function_t function ,
const std::string& docString)
{
return new CommandVoid3<E,T1,T2,T3>( entity,function,docString );
}
template <class E,typename T1,typename T2,typename T3 >
CommandVoid3<E,T1,T2,T3>*
makeCommandVoid3(E& entity,
// The following syntaxt don't compile when not specializing the template
// arg... why ???
//typename CommandVoid3<E,T1,T2>::memberFunction_t function ,
boost::function<void(E*,const T1&,const T2&,const T3&)> function,
const std::string& docString)
{
return new CommandVoid3<E,T1,T2,T3>( entity,
boost::bind(function,&entity,_1,_2,_3),docString );
}
template <class E,typename T1,typename T2,typename T3 >
CommandVoid3<E,T1,T2,T3>*
makeCommandVoid3(E& entity,
void (E::*function) (const T1&,const T2&,const T3&),
const std::string& docString)
{
return new CommandVoid3<E,T1,T2,T3>( entity,
boost::bind(function,&entity,_1,_2,_3),
docString );
return NULL;
}
inline std::string docCommandVoid3( const std::string& doc,
const std::string& type1,
const std::string& type2,
const std::string& type3 )
{
return (std::string("\n")+doc+"\n\n"
+"Input:\n - A "+type1+".\n"
+"Input:\n - A "+type2+".\n"
+"Input:\n - A "+type3+".\n"
+"Void return.\n\n" );
}
} // namespace command
} // namespace dynamicgraph
namespace command {
template <class E, typename T1, typename T2, typename T3>
struct CommandVoid3 : public Command {
typedef boost::function<void(const T1 &, const T2 &, const T3 &)> function_t;
CommandVoid3(E &entity, function_t function, const std::string &docString)
: Command(entity,
boost::assign::list_of(ValueHelper<T1>::TypeID)(
ValueHelper<T2>::TypeID)(ValueHelper<T3>::TypeID),
docString),
fptr(function) {}
protected:
virtual Value doExecute() {
assert(getParameterValues().size() == 3);
T1 val1 = getParameterValues()[0].value();
T2 val2 = getParameterValues()[1].value();
T3 val3 = getParameterValues()[2].value();
fptr(val1, val2, val3);
return Value(); // void
}
private:
function_t fptr;
};
template <class E, typename T1, typename T2, typename T3>
CommandVoid3<E, T1, T2, T3> *makeCommandVoid3(
E &entity, typename CommandVoid3<E, T1, T2, T3>::function_t function,
const std::string &docString) {
return new CommandVoid3<E, T1, T2, T3>(entity, function, docString);
}
template <class E, typename T1, typename T2, typename T3>
CommandVoid3<E, T1, T2, T3> *makeCommandVoid3(
E &entity,
// The following syntaxt don't compile when not specializing the template
// arg... why ???
boost::function<void(E *, const T1 &, const T2 &, const T3 &)> function,
const std::string &docString) {
return new CommandVoid3<E, T1, T2, T3>(
entity, boost::bind(function, &entity, _1, _2, _3), docString);
}
template <class E, typename T1, typename T2, typename T3>
CommandVoid3<E, T1, T2, T3> *makeCommandVoid3(
E &entity, void (E::*function)(const T1 &, const T2 &, const T3 &),
const std::string &docString) {
return new CommandVoid3<E, T1, T2, T3>(
entity, boost::bind(function, &entity, _1, _2, _3), docString);
return NULL;
}
inline std::string docCommandVoid3(const std::string &doc,
const std::string &type1,
const std::string &type2,
const std::string &type3) {
return (std::string("\n") + doc + "\n\n" + "Input:\n - A " + type1 + ".\n" +
"Input:\n - A " + type2 + ".\n" + "Input:\n - A " + type3 + ".\n" +
"Void return.\n\n");
}
} // namespace command
} // namespace dynamicgraph
/* --- FUNCTION 4 ARGS ------------------------------------------------------ */
namespace dynamicgraph {
namespace command {
template <class E,typename T1,typename T2,typename T3,typename T4 >
struct CommandVoid4
: public Command
{
typedef boost::function<void(const T1&,const T2&,const T3&,const T4&)> function_t;
typedef boost::function<void(E*,const T1&,const T2&,const T3&,const T4&)> memberFunction_t;
typedef void (E::*memberFunction_ptr_t) (const T1&,const T2&,const T3&,const T4&);
CommandVoid4(E& entity, function_t function,
const std::string& docString)
:Command(entity,
boost::assign::list_of
(ValueHelper<T1>::TypeID)
(ValueHelper<T2>::TypeID)
(ValueHelper<T3>::TypeID)
(ValueHelper<T4>::TypeID)
, docString)
,fptr(function)
{}
protected:
virtual Value doExecute()
{
assert( getParameterValues().size() == 4 );
T1 val1 = getParameterValues()[0].value();
T2 val2 = getParameterValues()[1].value();
T3 val3 = getParameterValues()[2].value();
T4 val4 = getParameterValues()[3].value();
fptr(val1,val2,val3,val4);
return Value(); // void
}
private:
function_t fptr;
};
template <class E,typename T1,typename T2,typename T3,typename T4 >
CommandVoid4<E,T1,T2,T3,T4>*
makeCommandVoid4(E& entity,
typename CommandVoid4<E,T1,T2,T3,T4>::function_t function ,
const std::string& docString)
{
return new CommandVoid4<E,T1,T2,T3,T4>( entity,function,docString );
}
template <class E,typename T1,typename T2,typename T3,typename T4 >
CommandVoid4<E,T1,T2,T3,T4>*
makeCommandVoid4(E& entity,
boost::function<void(E*,const T1&,const T2&,const T3&,const T4&)> function,
const std::string& docString)
{
return new CommandVoid4<E,T1,T2,T3,T4>( entity,
boost::bind(function,&entity,_1,_2,_3,_4),docString );
}
template <class E,typename T1,typename T2,typename T3,typename T4 >
CommandVoid4<E,T1,T2,T3,T4>*
makeCommandVoid4(E& entity,
void (E::*function) (const T1&,const T2&,const T3&,const T4&),
const std::string& docString)
{
return new CommandVoid4<E,T1,T2,T3,T4>( entity,
boost::bind(function,&entity,_1,_2,_3,_4),
docString );
return NULL;
}
inline std::string docCommandVoid4( const std::string& doc,
const std::string& type1,
const std::string& type2,
const std::string& type3,
const std::string& type4 )
{
return (std::string("\n")+doc+"\n\n"
+"Input:\n - A "+type1+".\n"
+"Input:\n - A "+type2+".\n"
+"Input:\n - A "+type3+".\n"
+"Input:\n - A "+type4+".\n"
+"Void return.\n\n" );
}
} // namespace command
} // namespace dynamicgraph
namespace command {
template <class E, typename T1, typename T2, typename T3, typename T4>
struct CommandVoid4 : public Command {
typedef boost::function<void(const T1 &, const T2 &, const T3 &, const T4 &)>
function_t;
typedef void (E::*memberFunction_ptr_t)(const T1 &, const T2 &, const T3 &,
const T4 &);
CommandVoid4(E &entity, function_t function, const std::string &docString)
: Command(entity,
boost::assign::list_of(ValueHelper<T1>::TypeID)(
ValueHelper<T2>::TypeID)(ValueHelper<T3>::TypeID)(
ValueHelper<T4>::TypeID),
docString),
fptr(function) {}
protected:
virtual Value doExecute() {
assert(getParameterValues().size() == 4);
T1 val1 = getParameterValues()[0].value();
T2 val2 = getParameterValues()[1].value();
T3 val3 = getParameterValues()[2].value();
T4 val4 = getParameterValues()[3].value();
fptr(val1, val2, val3, val4);
return Value(); // void
}
private:
function_t fptr;
};
template <class E, typename T1, typename T2, typename T3, typename T4>
CommandVoid4<E, T1, T2, T3, T4> *makeCommandVoid4(
E &entity, typename CommandVoid4<E, T1, T2, T3, T4>::function_t function,
const std::string &docString) {
return new CommandVoid4<E, T1, T2, T3, T4>(entity, function, docString);
}
template <class E, typename T1, typename T2, typename T3, typename T4>
CommandVoid4<E, T1, T2, T3, T4> *makeCommandVoid4(
E &entity,
boost::function<void(E *, const T1 &, const T2 &, const T3 &, const T4 &)>
function,
const std::string &docString) {
return new CommandVoid4<E, T1, T2, T3, T4>(
entity, boost::bind(function, &entity, _1, _2, _3, _4), docString);
}
template <class E, typename T1, typename T2, typename T3, typename T4>
CommandVoid4<E, T1, T2, T3, T4> *makeCommandVoid4(
E &entity,
void (E::*function)(const T1 &, const T2 &, const T3 &, const T4 &),
const std::string &docString) {
return new CommandVoid4<E, T1, T2, T3, T4>(
entity, boost::bind(function, &entity, _1, _2, _3, _4), docString);
return NULL;
}
inline std::string docCommandVoid4(const std::string &doc,
const std::string &type1,
const std::string &type2,
const std::string &type3,
const std::string &type4) {
return (std::string("\n") + doc + "\n\n" + "Input:\n - A " + type1 + ".\n" +
"Input:\n - A " + type2 + ".\n" + "Input:\n - A " + type3 + ".\n" +
"Input:\n - A " + type4 + ".\n" + "Void return.\n\n");
}
} // namespace command
} // namespace dynamicgraph
/* --- FUNCTION 5 ARGS ------------------------------------------------------ */
namespace dynamicgraph {
namespace command {
template <class E, typename T1, typename T2, typename T3, typename T4,
typename T5>
struct CommandVoid5 : public Command {
typedef boost::function<void(const T1 &, const T2 &, const T3 &, const T4 &,
const T5 &)>
function_t;
typedef void (E::*memberFunction_ptr_t)(const T1 &, const T2 &, const T3 &,
const T4 &, const T5 &);
CommandVoid5(E &entity, function_t function, const std::string &docString)
: Command(entity,
boost::assign::list_of(ValueHelper<T1>::TypeID)(
ValueHelper<T2>::TypeID)(ValueHelper<T3>::TypeID)(
ValueHelper<T4>::TypeID)(ValueHelper<T5>::TypeID),
docString),
fptr(function) {}
protected:
virtual Value doExecute() {
assert(getParameterValues().size() == 5);
T1 val1 = getParameterValues()[0].value();
T2 val2 = getParameterValues()[1].value();
T3 val3 = getParameterValues()[2].value();
T4 val4 = getParameterValues()[3].value();
T5 val5 = getParameterValues()[4].value();
fptr(val1, val2, val3, val4, val5);
return Value(); // void
}
private:
function_t fptr;
};
template <class E, typename T1, typename T2, typename T3, typename T4,
typename T5>
CommandVoid5<E, T1, T2, T3, T4, T5> *makeCommandVoid5(
E &entity,
typename CommandVoid5<E, T1, T2, T3, T4, T5>::function_t function,
const std::string &docString) {
return new CommandVoid5<E, T1, T2, T3, T4, T5>(entity, function, docString);
}
template <class E, typename T1, typename T2, typename T3, typename T4,
typename T5>
CommandVoid5<E, T1, T2, T3, T4, T5> *makeCommandVoid5(
E &entity,
boost::function<void(E *, const T1 &, const T2 &, const T3 &, const T4 &,
const T5 &)>
function,
const std::string &docString) {
return new CommandVoid5<E, T1, T2, T3, T4, T5>(
entity, boost::bind(function, &entity, _1, _2, _3, _4, _5), docString);
}
template <class E, typename T1, typename T2, typename T3, typename T4,
typename T5>
CommandVoid5<E, T1, T2, T3, T4, T5> *makeCommandVoid5(
E &entity,
void (E::*function)(const T1 &, const T2 &, const T3 &, const T4 &,
const T5 &),
const std::string &docString) {
return new CommandVoid5<E, T1, T2, T3, T4, T5>(
entity, boost::bind(function, &entity, _1, _2, _3, _4, _5), docString);
return NULL;
}
inline std::string docCommandVoid5(const std::string &doc,
const std::string &type1,
const std::string &type2,
const std::string &type3,
const std::string &type4,
const std::string &type5) {
return (std::string("\n") + doc + "\n\n" + "Input:\n - A " + type1 + ".\n" +
"Input:\n - A " + type2 + ".\n" + "Input:\n - A " + type3 + ".\n" +
"Input:\n - A " + type4 + ".\n" + "Input:\n - A " + type5 + ".\n" +
"Void return.\n\n");
}
} // namespace command
} // namespace dynamicgraph
/* --- FUNCTION 6 ARGS ------------------------------------------------------ */
namespace dynamicgraph {
namespace command {
template <class E, typename T1, typename T2, typename T3, typename T4,
typename T5, typename T6>
struct CommandVoid6 : public Command {
typedef boost::function<void(const T1 &, const T2 &, const T3 &, const T4 &,
const T5 &, const T6 &)>
function_t;
typedef void (E::*memberFunction_ptr_t)(const T1 &, const T2 &, const T3 &,
const T4 &, const T5 &, const T6 &);
CommandVoid6(E &entity, function_t function, const std::string &docString)
: Command(entity,
boost::assign::list_of(ValueHelper<T1>::TypeID)(
ValueHelper<T2>::TypeID)(ValueHelper<T3>::TypeID)(
ValueHelper<T4>::TypeID)(ValueHelper<T5>::TypeID)(
ValueHelper<T6>::TypeID),
docString),
fptr(function) {}
protected:
virtual Value doExecute() {
assert(getParameterValues().size() == 6);
T1 val1 = getParameterValues()[0].value();
T2 val2 = getParameterValues()[1].value();
T3 val3 = getParameterValues()[2].value();
T4 val4 = getParameterValues()[3].value();
T5 val5 = getParameterValues()[4].value();
T6 val6 = getParameterValues()[5].value();
fptr(val1, val2, val3, val4, val5, val6);
return Value(); // void
}
private:
function_t fptr;
};
template <class E, typename T1, typename T2, typename T3, typename T4,
typename T5, typename T6>
CommandVoid6<E, T1, T2, T3, T4, T5, T6> *makeCommandVoid6(
E &entity,
typename CommandVoid6<E, T1, T2, T3, T4, T5, T6>::function_t function,
const std::string &docString) {
return new CommandVoid6<E, T1, T2, T3, T4, T5, T6>(entity, function,
docString);
}
template <class E, typename T1, typename T2, typename T3, typename T4,
typename T5, typename T6>
CommandVoid6<E, T1, T2, T3, T4, T5, T6> *makeCommandVoid6(
E &entity,
boost::function<void(E *, const T1 &, const T2 &, const T3 &, const T4 &,
const T5 &, const T6 &)>
function,
const std::string &docString) {
return new CommandVoid6<E, T1, T2, T3, T4, T5, T6>(
entity, boost::bind(function, &entity, _1, _2, _3, _4, _5, _6),
docString);
}
template <class E, typename T1, typename T2, typename T3, typename T4,
typename T5, typename T6>
CommandVoid6<E, T1, T2, T3, T4, T5, T6> *makeCommandVoid6(
E &entity,
void (E::*function)(const T1 &, const T2 &, const T3 &, const T4 &,
const T5 &, const T6 &),
const std::string &docString) {
return new CommandVoid6<E, T1, T2, T3, T4, T5, T6>(
entity, boost::bind(function, &entity, _1, _2, _3, _4, _5, _6),
docString);
return NULL;
}
inline std::string docCommandVoid6(
const std::string &doc, const std::string &type1, const std::string &type2,
const std::string &type3, const std::string &type4,
const std::string &type5, const std::string &type6) {
return (std::string("\n") + doc + "\n\n" + "Input:\n - A " + type1 + ".\n" +
"Input:\n - A " + type2 + ".\n" + "Input:\n - A " + type3 + ".\n" +
"Input:\n - A " + type4 + ".\n" + "Input:\n - A " + type5 + ".\n" +
"Input:\n - A " + type6 + ".\n" + "Void return.\n\n");
}
} // namespace command
} // namespace dynamicgraph
/* --- FUNCTION 7 ARGS ------------------------------------------------------ */
namespace dynamicgraph {
namespace command {
template <class E, typename T1, typename T2, typename T3, typename T4,
typename T5, typename T6, typename T7>
struct CommandVoid7 : public Command {
typedef boost::function<void(const T1 &, const T2 &, const T3 &, const T4 &,
const T5 &, const T6 &, const T7 &)>
function_t;
typedef void (E::*memberFunction_ptr_t)(const T1 &, const T2 &, const T3 &,
const T4 &, const T5 &, const T6 &,
const T7 &);
CommandVoid7(E &entity, function_t function, const std::string &docString)
: Command(entity,
boost::assign::list_of(ValueHelper<T1>::TypeID)(
ValueHelper<T2>::TypeID)(ValueHelper<T3>::TypeID)(
ValueHelper<T4>::TypeID)(ValueHelper<T5>::TypeID)(
ValueHelper<T6>::TypeID)(ValueHelper<T7>::TypeID),
docString),
fptr(function) {}
protected:
virtual Value doExecute() {
assert(getParameterValues().size() == 7);
T1 val1 = getParameterValues()[0].value();
T2 val2 = getParameterValues()[1].value();
T3 val3 = getParameterValues()[2].value();
T4 val4 = getParameterValues()[3].value();
T5 val5 = getParameterValues()[4].value();
T6 val6 = getParameterValues()[5].value();
T7 val7 = getParameterValues()[6].value();
fptr(val1, val2, val3, val4, val5, val6, val7);
return Value(); // void
}
private:
function_t fptr;
};
template <class E, typename T1, typename T2, typename T3, typename T4,
typename T5, typename T6, typename T7>
CommandVoid7<E, T1, T2, T3, T4, T5, T6, T7> *makeCommandVoid7(
E &entity,
typename CommandVoid7<E, T1, T2, T3, T4, T5, T6, T7>::function_t function,
const std::string &docString) {
return new CommandVoid7<E, T1, T2, T3, T4, T5, T6, T7>(entity, function,
docString);
}
template <class E, typename T1, typename T2, typename T3, typename T4,
typename T5, typename T6, typename T7>
CommandVoid7<E, T1, T2, T3, T4, T5, T6, T7> *makeCommandVoid7(
E &entity,
boost::function<void(E *, const T1 &, const T2 &, const T3 &, const T4 &,
const T5 &, const T6 &, const T7 &)>
function,
const std::string &docString) {
return new CommandVoid7<E, T1, T2, T3, T4, T5, T6, T7>(
entity, boost::bind(function, &entity, _1, _2, _3, _4, _5, _6, _7),
docString);
}
template <class E, typename T1, typename T2, typename T3, typename T4,
typename T5, typename T6, typename T7>
CommandVoid7<E, T1, T2, T3, T4, T5, T6, T7> *makeCommandVoid7(
E &entity,
void (E::*function)(const T1 &, const T2 &, const T3 &, const T4 &,
const T5 &, const T6 &, const T7 &),
const std::string &docString) {
return new CommandVoid7<E, T1, T2, T3, T4, T5, T6, T7>(
entity, boost::bind(function, &entity, _1, _2, _3, _4, _5, _6, _7),
docString);
return NULL;
}
inline std::string docCommandVoid7(
const std::string &doc, const std::string &type1, const std::string &type2,
const std::string &type3, const std::string &type4,
const std::string &type5, const std::string &type6,
const std::string &type7) {
return (std::string("\n") + doc + "\n\n" + "Input:\n - A " + type1 + ".\n" +
"Input:\n - A " + type2 + ".\n" + "Input:\n - A " + type3 + ".\n" +
"Input:\n - A " + type4 + ".\n" + "Input:\n - A " + type5 + ".\n" +
"Input:\n - A " + type6 + ".\n" + "Input:\n - A " + type7 + ".\n" +
"Void return.\n\n");
}
} // namespace command
} // namespace dynamicgraph
/* --- FUNCTION 8 ARGS ------------------------------------------------------ */
namespace dynamicgraph {
namespace command {
template <class E, typename T1, typename T2, typename T3, typename T4,
typename T5, typename T6, typename T7, typename T8>
struct CommandVoid8 : public Command {
typedef boost::function<void(const T1 &, const T2 &, const T3 &, const T4 &,
const T5 &, const T6 &, const T7 &, const T8 &)>
function_t;
typedef void (E::*memberFunction_ptr_t)(const T1 &, const T2 &, const T3 &,
const T4 &, const T5 &, const T6 &,
const T7 &, const T8 &);
CommandVoid8(E &entity, function_t function, const std::string &docString)
: Command(entity,
boost::assign::list_of(ValueHelper<T1>::TypeID)(
ValueHelper<T2>::TypeID)(ValueHelper<T3>::TypeID)(
ValueHelper<T4>::TypeID)(ValueHelper<T5>::TypeID)(
ValueHelper<T6>::TypeID)(ValueHelper<T7>::TypeID)(
ValueHelper<T8>::TypeID),
docString),
fptr(function) {}
protected:
virtual Value doExecute() {
assert(getParameterValues().size() == 8);
T1 val1 = getParameterValues()[0].value();
T2 val2 = getParameterValues()[1].value();
T3 val3 = getParameterValues()[2].value();
T4 val4 = getParameterValues()[3].value();
T5 val5 = getParameterValues()[4].value();
T6 val6 = getParameterValues()[5].value();
T7 val7 = getParameterValues()[6].value();
T8 val8 = getParameterValues()[7].value();
fptr(val1, val2, val3, val4, val5, val6, val7, val8);
return Value(); // void
}
private:
function_t fptr;
};
template <class E, typename T1, typename T2, typename T3, typename T4,
typename T5, typename T6, typename T7, typename T8>
CommandVoid8<E, T1, T2, T3, T4, T5, T6, T7, T8> *makeCommandVoid8(
E &entity,
typename CommandVoid8<E, T1, T2, T3, T4, T5, T6, T7, T8>::function_t
function,
const std::string &docString) {
return new CommandVoid8<E, T1, T2, T3, T4, T5, T6, T7, T8>(entity, function,
docString);
}
template <class E, typename T1, typename T2, typename T3, typename T4,
typename T5, typename T6, typename T7, typename T8>
CommandVoid8<E, T1, T2, T3, T4, T5, T6, T7, T8> *makeCommandVoid8(
E &entity,
boost::function<void(E *, const T1 &, const T2 &, const T3 &, const T4 &,
const T5 &, const T6 &, const T7 &, const T8 &)>
function,
const std::string &docString) {
return new CommandVoid8<E, T1, T2, T3, T4, T5, T6, T7, T8>(
entity, boost::bind(function, &entity, _1, _2, _3, _4, _5, _6, _7, _8),
docString);
}
template <class E, typename T1, typename T2, typename T3, typename T4,
typename T5, typename T6, typename T7, typename T8>
CommandVoid8<E, T1, T2, T3, T4, T5, T6, T7, T8> *makeCommandVoid8(
E &entity,
void (E::*function)(const T1 &, const T2 &, const T3 &, const T4 &,
const T5 &, const T6 &, const T7 &, const T8 &),
const std::string &docString) {
return new CommandVoid8<E, T1, T2, T3, T4, T5, T6, T7, T8>(
entity, boost::bind(function, &entity, _1, _2, _3, _4, _5, _6, _7, _8),
docString);
return NULL;
}
inline std::string docCommandVoid8(
const std::string &doc, const std::string &type1, const std::string &type2,
const std::string &type3, const std::string &type4,
const std::string &type5, const std::string &type6,
const std::string &type7, const std::string &type8) {
return (std::string("\n") + doc + "\n\n" + "Input:\n - A " + type1 + ".\n" +
"Input:\n - A " + type2 + ".\n" + "Input:\n - A " + type3 + ".\n" +
"Input:\n - A " + type4 + ".\n" + "Input:\n - A " + type5 + ".\n" +
"Input:\n - A " + type6 + ".\n" + "Input:\n - A " + type7 + ".\n" +
"Input:\n - A " + type8 + ".\n" + "Void return.\n\n");
}
} // namespace command
} // namespace dynamicgraph
/* --- FUNCTION VERBOSE ----------------------------------------------------- */
/* This bind a function void f( ostream& ) that display some results into
* a string f( void ) that return some string results. */
namespace dynamicgraph {
namespace command {
template <class E >
struct CommandVerbose
: public Command
{
typedef boost::function<void(std::ostream&)> function_t;
typedef boost::function<void(E*,std::ostream&)> memberFunction_t;
typedef void (E::*memberFunctionConst_ptr_t) (std::ostream&) const;
typedef void (E::*memberFunction_ptr_t) (std::ostream&);
CommandVerbose(E& entity, function_t function,
const std::string& docString)
:Command(entity, EMPTY_ARG, docString)
,fptr(function)
{}
protected:
virtual Value doExecute()
{
assert( getParameterValues().size() == 0 );
std::ostringstream oss;
fptr(oss);
return Value( oss.str() ); // return string
}
private:
function_t fptr;
};
template <class E >
CommandVerbose<E>*
makeCommandVerbose(E& entity,
typename CommandVerbose<E>::function_t function,
const std::string& docString)
{
return new CommandVerbose<E>( entity,function,docString );
return NULL;
}
template <class E >
CommandVerbose<E>*
makeCommandVerbose(E& entity,
//void (E::*function) (std::ostream&) const,
typename CommandVerbose<E>::memberFunctionConst_ptr_t function,
const std::string& docString)
{
return new CommandVerbose<E>( entity,
boost::bind(function,&entity,_1),docString );
return NULL;
}
template <class E >
CommandVerbose<E>*
makeCommandVerbose(E& entity,
typename CommandVerbose<E>::memberFunction_ptr_t function,
const std::string& docString)
{
return new CommandVerbose<E>( entity,
boost::bind(function,&entity,_1),docString );
return NULL;
}
inline std::string docCommandVerbose( const std::string& doc )
{
return std::string("\n")+doc +"\n\nNo input.\n Return a string.\n\n";
}
} // namespace command
} // namespace dynamicgraph
#endif // __dg_command_bind_h__
namespace command {
template <class E>
struct CommandVerbose : public Command {
typedef boost::function<void(std::ostream &)> function_t;
CommandVerbose(E &entity, function_t function, const std::string &docString)
: Command(entity, EMPTY_ARG, docString), fptr(function) {}
protected:
virtual Value doExecute() {
assert(getParameterValues().size() == 0);
std::ostringstream oss;
fptr(oss);
return Value(oss.str()); // return string
}
private:
function_t fptr;
};
template <class E>
CommandVerbose<E> *makeCommandVerbose(
E &entity, typename CommandVerbose<E>::function_t function,
const std::string &docString) {
return new CommandVerbose<E>(entity, function, docString);
return NULL;
}
template <class E>
CommandVerbose<E> *makeCommandVerbose(E &entity,
void (E::*function)(std::ostream &),
const std::string &docString) {
return new CommandVerbose<E>(entity, boost::bind(function, &entity, _1),
docString);
return NULL;
}
inline std::string docCommandVerbose(const std::string &doc) {
return std::string("\n") + doc + "\n\nNo input.\n Return a string.\n\n";
}
/*************************/
/* Template return types */
/*************************/
template <class E, class ReturnType>
struct CommandReturnType0 : public Command {
CommandReturnType0(E &entity, boost::function<ReturnType(void)> function,
const std::string &docString)
: Command(entity, EMPTY_ARG, docString), fptr(function) {}
protected:
virtual Value doExecute() {
assert(getParameterValues().size() == 0);
Value res(fptr());
return res;
}
private:
boost::function<ReturnType(void)> fptr;
};
template <class E, class ReturnType>
CommandReturnType0<E, ReturnType> *makeCommandReturnType0(
E &entity, boost::function<ReturnType(void)> function,
const std::string &docString) {
return new CommandReturnType0<E, ReturnType>(entity, function, docString);
}
template <class E, class ReturnType>
CommandReturnType0<E, ReturnType> *makeCommandReturnType0(
E &entity, boost::function<ReturnType(E *)> function,
const std::string &docString) {
return new CommandReturnType0<E, ReturnType>(
entity, boost::bind(function, &entity), docString);
}
template <class E, class ReturnType>
CommandReturnType0<E, ReturnType> *makeCommandReturnType0(
E &entity, ReturnType (E::*function)(void), const std::string &docString) {
return new CommandReturnType0<E, ReturnType>(
entity, boost::bind(function, &entity), docString);
}
template <typename ReturnType>
inline std::string docCommandReturnType0(
const std::string &doc, const std::string & /* return_type */) {
return std::string("\n") + doc + "\n\nNo input.\n" +
typeid(ReturnType).name() + " return.\n\n";
}
} // namespace command
} // namespace dynamicgraph
/* --- FUNCTION 1 ARGS ------------------------------------------------------ */
namespace dynamicgraph {
namespace command {
template <class E, typename ReturnType, typename T>
struct CommandReturnType1 : public Command {
typedef boost::function<ReturnType(const T &)> function_t;
CommandReturnType1(E &entity, function_t function,
const std::string &docString)
: Command(entity, boost::assign::list_of(ValueHelper<T>::TypeID),
docString),
fptr(function) {}
protected:
virtual Value doExecute() {
assert(getParameterValues().size() == 1);
T val = getParameterValues()[0].value();
Value res(fptr(val));
return res;
}
private:
function_t fptr;
};
template <class E, typename ReturnType, typename T>
CommandReturnType1<E, ReturnType, T> *makeCommandReturnType1(
E &entity, boost::function<ReturnType(const T &)> function,
const std::string &docString) {
return new CommandReturnType1<E, ReturnType, T>(entity, function, docString);
}
template <class E, typename ReturnType, typename T>
CommandReturnType1<E, ReturnType, T> *makeCommandReturnType1(
E &entity,
// The following syntaxt don't compile when not
// specializing the template arg... why ???
boost::function<ReturnType(E *, const T &)> function,
const std::string &docString) {
return new CommandReturnType1<E, ReturnType, T>(
entity, boost::bind(function, &entity, _1), docString);
}
template <class E, typename ReturnType, typename T>
CommandReturnType1<E, ReturnType, T> *makeCommandReturnType1(
E &entity, ReturnType (E::*function)(const T &),
const std::string &docString) {
return new CommandReturnType1<E, ReturnType, T>(
entity, boost::bind(function, &entity, _1), docString);
return NULL;
}
template <typename ReturnType>
inline std::string docCommandReturnType1(const std::string &doc,
const std::string &type) {
return std::string("\n") + doc + "\n\nInput:\n - A " + type + ".\n" +
typeid(ReturnType).name() + "return.\n\n";
}
} // namespace command
} // namespace dynamicgraph
/*********** FUNCTION 2 Arguments ************************/
namespace dynamicgraph {
namespace command {
template <class E, typename ReturnType, typename T1, typename T2>
struct CommandReturnType2 : public Command {
typedef boost::function<ReturnType(const T1 &, const T2 &)> function_t;
CommandReturnType2(E &entity, function_t function,
const std::string &docString)
: Command(entity,
boost::assign::list_of(ValueHelper<T1>::TypeID)(
ValueHelper<T2>::TypeID),
docString),
fptr(function) {}
protected:
virtual Value doExecute() {
assert(getParameterValues().size() == 2);
T1 val1 = getParameterValues()[0].value();
T2 val2 = getParameterValues()[1].value();
Value res(fptr(val1, val2));
return res;
}
private:
function_t fptr;
};
template <class E, typename ReturnType, typename T1, typename T2>
CommandReturnType2<E, ReturnType, T1, T2> *makeCommandReturnType2(
E &entity, boost::function<ReturnType(const T1 &, const T2 &)> function,
const std::string &docString) {
return new CommandReturnType2<E, ReturnType, T1, T2>(entity, function,
docString);
}
template <class E, typename ReturnType, typename T1, typename T2>
CommandReturnType2<E, ReturnType, T1, T2> *makeCommandReturnType2(
E &entity,
// The following syntaxt don't compile when not specializing the template
// arg... why ???
boost::function<ReturnType(E *, const T1 &, const T2 &)> function,
const std::string &docString) {
return new CommandReturnType2<E, ReturnType, T1, T2>(
entity, boost::bind(function, &entity, _1, _2), docString);
}
template <class E, typename ReturnType, typename T1, typename T2>
CommandReturnType2<E, ReturnType, T1, T2> *makeCommandReturnType2(
E &entity, ReturnType (E::*function)(const T1 &, const T2 &),
const std::string &docString) {
return new CommandReturnType2<E, ReturnType, T1, T2>(
entity, boost::bind(function, &entity, _1, _2), docString);
return NULL;
}
template <typename ReturnType>
inline std::string docCommandReturnType2(const std::string &doc,
const std::string &type1,
const std::string &type2) {
return (std::string("\n") + doc + "\n\n" + "Input:\n - A " + type1 + ".\n" +
"Input:\n - A " + type2 + ".\n" +
"ReturnType:\n - Returns:" + typeid(ReturnType).name() + +".\n\n");
}
} // namespace command
} // namespace dynamicgraph
#endif // __dg_command_bind_h__
include/dynamic-graph/command-direct-getter.h
View file @ 2e7a70d5
......@@ -15,47 +15,44 @@
*
*/
#include "dynamic-graph/command.h"
#include <boost/assign/list_of.hpp>
#include "dynamic-graph/command.h"
/* --- GETTER --------------------------------------------------------- */
namespace dynamicgraph {
namespace command {
template <class E, typename T>
class DirectGetter
: public Command
{
public:
/// Pointer to method that sets parameter of type T
typedef T (E::*GetterMethod) () const;
/// Constructor
DirectGetter(E& entity,T* ptr,
const std::string& docString)
: Command(entity, std::vector<Value::Type>(), docString),
T_ptr(ptr) {}
protected:
virtual Value doExecute() { return Value(*T_ptr); }
private:
T* T_ptr;
};
template <class E, typename T>
DirectGetter<E,T>*
makeDirectGetter( E& entity,T* ptr,
const std::string& docString)
{ return new DirectGetter<E,T>(entity,ptr,docString); }
inline std::string docDirectGetter( const std::string& name,
const std::string& type )
{
return std::string("\nGet the ")+name+".\n\nNo input.\nReturn an "+type+".\n\n";
}
} // namespace command
} // namespace dynamicgraph
#endif // __dg_command_direct_getter_h__
namespace command {
template <class E, typename T>
class DirectGetter : public Command {
public:
/// Pointer to method that sets parameter of type T
typedef T (E::*GetterMethod)() const;
/// Constructor
DirectGetter(E &entity, T *ptr, const std::string &docString)
: Command(entity, std::vector<Value::Type>(), docString), T_ptr(ptr) {}
protected:
virtual Value doExecute() { return Value(*T_ptr); }
private:
T *T_ptr;
};
template <class E, typename T>
DirectGetter<E, T> *makeDirectGetter(E &entity, T *ptr,
const std::string &docString) {
return new DirectGetter<E, T>(entity, ptr, docString);
}
inline std::string docDirectGetter(const std::string &name,
const std::string &type) {
return std::string("\nGet the ") + name + ".\n\nNo input.\nReturn an " +
type + ".\n\n";
}
} // namespace command
} // namespace dynamicgraph
#endif // __dg_command_direct_getter_h__
include/dynamic-graph/command-direct-setter.h
View file @ 2e7a70d5
......@@ -15,50 +15,47 @@
*
*/
#include "dynamic-graph/command.h"
#include <boost/assign/list_of.hpp>
#include "dynamic-graph/command.h"
/* --- SETTER --------------------------------------------------------- */
namespace dynamicgraph {
namespace command {
template <class E, typename T>
class DirectSetter
: public Command
{
public:
DirectSetter(E& entity,T* ptr,const std::string& docString)
:Command(entity, boost::assign::list_of(ValueHelper<T>::TypeID), docString)
,T_ptr(ptr)
{}
protected:
virtual Value doExecute()
{
const std::vector<Value>& values = getParameterValues();
T val = values[0].value();
(*T_ptr) = val;
return Value(); // void
}
private:
T* T_ptr;
};
template <class E, typename T>
DirectSetter<E,T>*
makeDirectSetter( E& entity,T* ptr,
const std::string& docString)
{ return new DirectSetter<E,T>(entity,ptr,docString); }
inline std::string docDirectSetter( const std::string& name,
const std::string& type )
{
return std::string("\nSet the ")+name+".\n\nInput:\n - a "
+type+".\nVoid return.\n\n";
}
} // namespace command
} // namespace dynamicgraph
#endif // __dg_command_direct_setter_h__
namespace command {
template <class E, typename T>
class DirectSetter : public Command {
public:
DirectSetter(E &entity, T *ptr, const std::string &docString)
: Command(entity, boost::assign::list_of(ValueHelper<T>::TypeID),
docString),
T_ptr(ptr) {}
protected:
virtual Value doExecute() {
const std::vector<Value> &values = getParameterValues();
T val = values[0].value();
(*T_ptr) = val;
return Value(); // void
}
private:
T *T_ptr;
};
template <class E, typename T>
DirectSetter<E, T> *makeDirectSetter(E &entity, T *ptr,
const std::string &docString) {
return new DirectSetter<E, T>(entity, ptr, docString);
}
inline std::string docDirectSetter(const std::string &name,
const std::string &type) {
return std::string("\nSet the ") + name + ".\n\nInput:\n - a " + type +
".\nVoid return.\n\n";
}
} // namespace command
} // namespace dynamicgraph
#endif // __dg_command_direct_setter_h__
include/dynamic-graph/command-getter.h
View file @ 2e7a70d5
......@@ -10,54 +10,53 @@
#include "dynamic-graph/command.h"
namespace dynamicgraph {
namespace command {
namespace command {
///
/// Command that calls a parameter getter function
///
/// This class is templated by a type E deriving from entity and
/// a type T of data.
///
/// Let us assume that class E has a private member of type T and a
/// public getter function for this member:
/// \code
/// class E : public Entity
/// {
/// public:
/// E (const std::string& inName) : Entity(inName) {}
/// T getParameter() const {return parameter_;}
/// private:
/// T parameter_;
/// };
/// \endcode
/// Then the command defined by:
/// \code
/// E entity("MyEntity");
/// Getter<E,T> command(entity, &E::getParameter)
/// \endcode
/// returns the value of <c>entity.parameter_</c> upon invocation.
///
/// \note
/// \li T should be a type supported by class Value,
/// \li prototype of E::getParameter should be exactly as specified in this
/// example.
template <class E, typename T>
class Getter : public Command {
public:
/// Pointer to method that sets parameter of type T
typedef T (E::*GetterMethod) () const;
/// Constructor
Getter(E& entity, GetterMethod getterMethod,
const std::string& docString);
///
/// Command that calls a parameter getter function
///
/// This class is templated by a type E deriving from entity and
/// a type T of data.
///
/// Let us assume that class E has a private member of type T and a
/// public getter function for this member:
/// \code
/// class E : public Entity
/// {
/// public:
/// E (const std::string& inName) : Entity(inName) {}
/// T getParameter() const {return parameter_;}
/// private:
/// T parameter_;
/// };
/// \endcode
/// Then the command defined by:
/// \code
/// E entity("MyEntity");
/// Getter<E,T> command(entity, &E::getParameter)
/// \endcode
/// returns the value of <c>entity.parameter_</c> upon invocation.
///
/// \note
/// \li T should be a type supported by class Value,
/// \li prototype of E::getParameter should be exactly as specified in this
/// example.
template <class E, typename T>
class Getter : public Command {
public:
/// Pointer to method that sets parameter of type T
typedef T (E::*GetterMethod)() const;
/// Constructor
Getter(E &entity, GetterMethod getterMethod, const std::string &docString);
protected:
virtual Value doExecute();
protected:
virtual Value doExecute();
private:
GetterMethod getterMethod_;
};
} // namespace command
} // namespace dynamicgraph
private:
GetterMethod getterMethod_;
};
} // namespace command
} // namespace dynamicgraph
#include "dynamic-graph/command-getter.t.cpp"
#endif //DYNAMIC_GRAPH_COMMAND_GETTER_H
#endif // DYNAMIC_GRAPH_COMMAND_GETTER_H
include/dynamic-graph/command-getter.t.cpp
View file @ 2e7a70d5
......@@ -7,28 +7,27 @@
#ifndef DYNAMIC_GRAPH_COMMAND_GETTER_T_CPP
#define DYNAMIC_GRAPH_COMMAND_GETTER_T_CPP
#include "dynamic-graph/command-getter.h"
#include <sstream>
namespace dynamicgraph {
class Entity;
namespace command {
class Entity;
namespace command {
template <class E, typename T>
Getter<E, T>::Getter(E& entity, GetterMethod getterMethod,
const std::string& docstring) :
Command(entity, std::vector<Value::Type>(), docstring),
getterMethod_(getterMethod)
{
}
template <class E, typename T>
Getter<E, T>::Getter(E &entity, GetterMethod getterMethod,
const std::string &docstring)
: Command(entity, std::vector<Value::Type>(), docstring),
getterMethod_(getterMethod) {}
template <class E, typename T>
Value Getter<E, T>::doExecute()
{
E& entity = static_cast<E&>(owner());
T value = (entity.*getterMethod_)();
return Value(value);
}
} // namespace command
} // namespace dynamicgraph
template <class E, typename T>
Value Getter<E, T>::doExecute() {
E &entity = static_cast<E &>(owner());
T value = (entity.*getterMethod_)();
return Value(value);
}
} // namespace command
} // namespace dynamicgraph
#endif // DYNAMIC_GRAPH_COMMAND_GETTER_T_CPP
#endif // DYNAMIC_GRAPH_COMMAND_GETTER_T_CPP
include/dynamic-graph/command-setter.h
View file @ 2e7a70d5
......@@ -10,54 +10,53 @@
#include "dynamic-graph/command.h"
namespace dynamicgraph {
namespace command {
namespace command {
///
/// Command that calls a parameter setter function
///
/// This class is templated by a type E deriving from entity and
/// a type T of data.
///
/// Let us assume that class E has a private member of type T and a
/// public setter function for this member:
/// \code
/// class E : public Entity
/// {
/// public:
/// E (const std::string& inName) : Entity(inName) {}
/// void setParameter(const T& parameter) {parameter_ = parameter;}
/// private:
/// T parameter_;
/// };
/// \endcode
/// Then the command defined by:
/// \code
/// E entity("MyEntity");
/// Setter<E,T> command(entity, &E::getParameter)
/// \endcode
/// sets the value of <c>entity.parameter_</c> upon invocation.
///
/// \note
/// \li T should be a type supported by class Value,
/// \li prototype of E::setParameter should be exactly as specified in this
/// example.
template <class E, typename T>
class Setter : public Command {
public:
/// Pointer to method that sets parameter of type T
typedef void (E::*SetterMethod) (const T&);
/// Constructor
Setter(E& entity, SetterMethod setterMethod,
const std::string& docString);
///
/// Command that calls a parameter setter function
///
/// This class is templated by a type E deriving from entity and
/// a type T of data.
///
/// Let us assume that class E has a private member of type T and a
/// public setter function for this member:
/// \code
/// class E : public Entity
/// {
/// public:
/// E (const std::string& inName) : Entity(inName) {}
/// void setParameter(const T& parameter) {parameter_ = parameter;}
/// private:
/// T parameter_;
/// };
/// \endcode
/// Then the command defined by:
/// \code
/// E entity("MyEntity");
/// Setter<E,T> command(entity, &E::getParameter)
/// \endcode
/// sets the value of <c>entity.parameter_</c> upon invocation.
///
/// \note
/// \li T should be a type supported by class Value,
/// \li prototype of E::setParameter should be exactly as specified in this
/// example.
template <class E, typename T>
class Setter : public Command {
public:
/// Pointer to method that sets parameter of type T
typedef void (E::*SetterMethod)(const T &);
/// Constructor
Setter(E &entity, SetterMethod setterMethod, const std::string &docString);
protected:
virtual Value doExecute();
protected:
virtual Value doExecute();
private:
SetterMethod setterMethod_;
};
} // namespace command
} // namespace dynamicgraph
private:
SetterMethod setterMethod_;
};
} // namespace command
} // namespace dynamicgraph
#include "dynamic-graph/command-setter.t.cpp"
#endif //DYNAMIC_GRAPH_COMMAND_SETTER_H
#endif // DYNAMIC_GRAPH_COMMAND_SETTER_H
include/dynamic-graph/command-setter.t.cpp
View file @ 2e7a70d5
......@@ -7,319 +7,290 @@
#ifndef DYNAMIC_GRAPH_COMMAND_SETTER_T_CPP
#define DYNAMIC_GRAPH_COMMAND_SETTER_T_CPP
#include <sstream>
#include "dynamic-graph/command-setter.h"
#include <boost/assign/list_of.hpp>
#include <sstream>
#include "dynamic-graph/linear-algebra.h"
namespace dynamicgraph {
class Entity;
namespace command {
//
// Template specialization: bool
//
template <class E>
class Setter<E, bool> : public Command {
public:
/// Pointer to method that sets parameter of type bool
typedef void (E::*SetterMethod) (const bool&);
/// Constructor
Setter(E& entity, SetterMethod setterMethod,
const std::string& docString);
protected:
virtual Value doExecute();
private:
SetterMethod setterMethod_;
}; // Class Setter
template <class E>
Setter<E, bool>::Setter(E& entity, SetterMethod setterMethod,
const std::string& docString) :
Command(entity, boost::assign::list_of(Value::BOOL), docString),
setterMethod_(setterMethod)
{
}
template <class E>
Value Setter<E, bool>::doExecute()
{
const std::vector<Value>& values = getParameterValues();
// Get parameter
bool value = values[0].value();
E& entity = static_cast<E&>(owner());
(entity.*setterMethod_)(value);
return Value();
}
//
// Template specialization: unsigned
//
template <class E>
class Setter<E, unsigned> : public Command {
public:
/// Pointer to method that sets parameter of type unsigned
typedef void (E::*SetterMethod) (const unsigned&);
/// Constructor
Setter(E& entity, SetterMethod setterMethod,
const std::string& docString);
protected:
virtual Value doExecute();
private:
SetterMethod setterMethod_;
}; // Class Setter
template <class E>
Setter<E, unsigned>::Setter(E& entity, SetterMethod setterMethod,
const std::string& docString) :
Command(entity, boost::assign::list_of(Value::UNSIGNED), docString),
setterMethod_(setterMethod)
{
}
template <class E>
Value Setter<E, unsigned>::doExecute()
{
const std::vector<Value>& values = getParameterValues();
// Get parameter
unsigned value = values[0].value();
E& entity = static_cast<E&>(owner());
(entity.*setterMethod_)(value);
return Value();
}
//
// Template specialization: int
//
template <class E>
class Setter<E, int> : public Command {
public:
/// Pointer to method that sets parameter of type int
typedef void (E::*SetterMethod) (const int&);
/// Constructor
Setter(E& entity, SetterMethod setterMethod,
const std::string& docString);
protected:
virtual Value doExecute();
private:
SetterMethod setterMethod_;
}; // Class Setter
template <class E>
Setter<E, int>::Setter(E& entity, SetterMethod setterMethod,
const std::string& docString) :
Command(entity, boost::assign::list_of(Value::INT), docString),
setterMethod_(setterMethod)
{
}
template <class E>
Value Setter<E, int>::doExecute()
{
const std::vector<Value>& values = getParameterValues();
// Get parameter
int value = values[0].value();
E& entity = static_cast<E&>(owner());
(entity.*setterMethod_)(value);
return Value();
}
//
// Template specialization: float
//
template <class E>
class Setter<E, float> : public Command {
public:
/// Pointer to method that sets parameter of type float
typedef void (E::*SetterMethod) (const float&);
/// Constructor
Setter(E& entity, SetterMethod setterMethod,
const std::string& docString);
protected:
virtual Value doExecute();
private:
SetterMethod setterMethod_;
}; // Class Setter
template <class E>
Setter<E, float>::Setter(E& entity, SetterMethod setterMethod,
const std::string& docString) :
Command(entity, boost::assign::list_of(Value::FLOAT), docString),
setterMethod_(setterMethod)
{
}
template <class E>
Value Setter<E, float>::doExecute()
{
const std::vector<Value>& values = getParameterValues();
// Get parameter
float value = values[0].value();
E& entity = static_cast<E&>(owner());
(entity.*setterMethod_)(value);
return Value();
}
//
// Template specialization: double
//
template <class E>
class Setter<E, double> : public Command {
public:
/// Pointer to method that sets parameter of type double
typedef void (E::*SetterMethod) (const double&);
/// Constructor
Setter(E& entity, SetterMethod setterMethod,
const std::string& docString);
protected:
virtual Value doExecute();
private:
SetterMethod setterMethod_;
}; // Class Setter
template <class E>
Setter<E, double>::Setter(E& entity, SetterMethod setterMethod,
const std::string& docString) :
Command(entity, boost::assign::list_of(Value::DOUBLE), docString),
setterMethod_(setterMethod)
{
}
template <class E>
Value Setter<E, double>::doExecute()
{
const std::vector<Value>& values = getParameterValues();
// Get parameter
double value = values[0].value();
E& entity = static_cast<E&>(owner());
(entity.*setterMethod_)(value);
return Value();
}
//
// Template specialization: std::string
//
template <class E>
class Setter<E, std::string> : public Command {
public:
/// Pointer to method that sets parameter of type std::string
typedef void (E::*SetterMethod) (const std::string&);
/// Constructor
Setter(E& entity, SetterMethod setterMethod,
const std::string& docString);
protected:
virtual Value doExecute();
private:
SetterMethod setterMethod_;
}; // Class Setter
template <class E>
Setter<E, std::string>::Setter(E& entity, SetterMethod setterMethod,
const std::string& docString) :
Command(entity, boost::assign::list_of(Value::STRING), docString),
setterMethod_(setterMethod)
{
}
template <class E>
Value Setter<E, std::string>::doExecute()
{
const std::vector<Value>& values = getParameterValues();
// Get parameter
std::string value = values[0].value();
E& entity = static_cast<E&>(owner());
(entity.*setterMethod_)(value);
return Value();
}
//
// Template specialization: Vector
//
template <class E>
class Setter<E, Vector> : public Command {
public:
/// Pointer to method that sets parameter of type Vector
typedef void (E::*SetterMethod) (const Vector&);
/// Constructor
Setter(E& entity, SetterMethod setterMethod,
const std::string& docString);
protected:
virtual Value doExecute();
private:
SetterMethod setterMethod_;
}; // Class Setter
template <class E>
Setter<E, Vector>::Setter(E& entity, SetterMethod setterMethod,
const std::string& docString) :
Command(entity, boost::assign::list_of(Value::VECTOR), docString),
setterMethod_(setterMethod)
{
}
template <class E>
Value Setter<E, Vector>::doExecute()
{
const std::vector<Value>& values = getParameterValues();
// Get parameter
Vector value = values[0].value();
E& entity = static_cast<E&>(owner());
(entity.*setterMethod_)(value);
return Value();
}
//
// Template specialization: Matrix
//
template <class E>
class Setter<E, Matrix> : public Command {
public:
/// Pointer to method that sets parameter of type Matrix
typedef void (E::*SetterMethod) (const Matrix&);
/// Constructor
Setter(E& entity, SetterMethod setterMethod,
const std::string& docString);
protected:
virtual Value doExecute();
private:
SetterMethod setterMethod_;
}; // Class Setter
template <class E>
Setter<E, Matrix>::Setter(E& entity, SetterMethod setterMethod,
const std::string& docString) :
Command(entity, boost::assign::list_of(Value::MATRIX), docString),
setterMethod_(setterMethod)
{
}
template <class E>
Value Setter<E, Matrix>::doExecute()
{
const std::vector<Value>& values = getParameterValues();
// Get parameter
Matrix value = values[0].value();
E& entity = static_cast<E&>(owner());
(entity.*setterMethod_)(value);
return Value();
}
} // namespace command
} // namespace dynamicgraph
#endif // DYNAMIC_GRAPH_COMMAND_SETTER_T_CPP
class Entity;
namespace command {
//
// Template specialization: bool
//
template <class E>
class Setter<E, bool> : public Command {
public:
/// Pointer to method that sets parameter of type bool
typedef void (E::*SetterMethod)(const bool &);
/// Constructor
Setter(E &entity, SetterMethod setterMethod, const std::string &docString);
protected:
virtual Value doExecute();
private:
SetterMethod setterMethod_;
}; // Class Setter
template <class E>
Setter<E, bool>::Setter(E &entity, SetterMethod setterMethod,
const std::string &docString)
: Command(entity, boost::assign::list_of(Value::BOOL), docString),
setterMethod_(setterMethod) {}
template <class E>
Value Setter<E, bool>::doExecute() {
const std::vector<Value> &values = getParameterValues();
// Get parameter
bool value = values[0].value();
E &entity = static_cast<E &>(owner());
(entity.*setterMethod_)(value);
return Value();
}
//
// Template specialization: unsigned
//
template <class E>
class Setter<E, unsigned> : public Command {
public:
/// Pointer to method that sets parameter of type unsigned
typedef void (E::*SetterMethod)(const unsigned &);
/// Constructor
Setter(E &entity, SetterMethod setterMethod, const std::string &docString);
protected:
virtual Value doExecute();
private:
SetterMethod setterMethod_;
}; // Class Setter
template <class E>
Setter<E, unsigned>::Setter(E &entity, SetterMethod setterMethod,
const std::string &docString)
: Command(entity, boost::assign::list_of(Value::UNSIGNED), docString),
setterMethod_(setterMethod) {}
template <class E>
Value Setter<E, unsigned>::doExecute() {
const std::vector<Value> &values = getParameterValues();
// Get parameter
unsigned value = values[0].value();
E &entity = static_cast<E &>(owner());
(entity.*setterMethod_)(value);
return Value();
}
//
// Template specialization: int
//
template <class E>
class Setter<E, int> : public Command {
public:
/// Pointer to method that sets parameter of type int
typedef void (E::*SetterMethod)(const int &);
/// Constructor
Setter(E &entity, SetterMethod setterMethod, const std::string &docString);
protected:
virtual Value doExecute();
private:
SetterMethod setterMethod_;
}; // Class Setter
template <class E>
Setter<E, int>::Setter(E &entity, SetterMethod setterMethod,
const std::string &docString)
: Command(entity, boost::assign::list_of(Value::INT), docString),
setterMethod_(setterMethod) {}
template <class E>
Value Setter<E, int>::doExecute() {
const std::vector<Value> &values = getParameterValues();
// Get parameter
int value = values[0].value();
E &entity = static_cast<E &>(owner());
(entity.*setterMethod_)(value);
return Value();
}
//
// Template specialization: float
//
template <class E>
class Setter<E, float> : public Command {
public:
/// Pointer to method that sets parameter of type float
typedef void (E::*SetterMethod)(const float &);
/// Constructor
Setter(E &entity, SetterMethod setterMethod, const std::string &docString);
protected:
virtual Value doExecute();
private:
SetterMethod setterMethod_;
}; // Class Setter
template <class E>
Setter<E, float>::Setter(E &entity, SetterMethod setterMethod,
const std::string &docString)
: Command(entity, boost::assign::list_of(Value::FLOAT), docString),
setterMethod_(setterMethod) {}
template <class E>
Value Setter<E, float>::doExecute() {
const std::vector<Value> &values = getParameterValues();
// Get parameter
float value = values[0].value();
E &entity = static_cast<E &>(owner());
(entity.*setterMethod_)(value);
return Value();
}
//
// Template specialization: double
//
template <class E>
class Setter<E, double> : public Command {
public:
/// Pointer to method that sets parameter of type double
typedef void (E::*SetterMethod)(const double &);
/// Constructor
Setter(E &entity, SetterMethod setterMethod, const std::string &docString);
protected:
virtual Value doExecute();
private:
SetterMethod setterMethod_;
}; // Class Setter
template <class E>
Setter<E, double>::Setter(E &entity, SetterMethod setterMethod,
const std::string &docString)
: Command(entity, boost::assign::list_of(Value::DOUBLE), docString),
setterMethod_(setterMethod) {}
template <class E>
Value Setter<E, double>::doExecute() {
const std::vector<Value> &values = getParameterValues();
// Get parameter
double value = values[0].value();
E &entity = static_cast<E &>(owner());
(entity.*setterMethod_)(value);
return Value();
}
//
// Template specialization: std::string
//
template <class E>
class Setter<E, std::string> : public Command {
public:
/// Pointer to method that sets parameter of type std::string
typedef void (E::*SetterMethod)(const std::string &);
/// Constructor
Setter(E &entity, SetterMethod setterMethod, const std::string &docString);
protected:
virtual Value doExecute();
private:
SetterMethod setterMethod_;
}; // Class Setter
template <class E>
Setter<E, std::string>::Setter(E &entity, SetterMethod setterMethod,
const std::string &docString)
: Command(entity, boost::assign::list_of(Value::STRING), docString),
setterMethod_(setterMethod) {}
template <class E>
Value Setter<E, std::string>::doExecute() {
const std::vector<Value> &values = getParameterValues();
// Get parameter
std::string value = values[0].value();
E &entity = static_cast<E &>(owner());
(entity.*setterMethod_)(value);
return Value();
}
//
// Template specialization: Vector
//
template <class E>
class Setter<E, Vector> : public Command {
public:
/// Pointer to method that sets parameter of type Vector
typedef void (E::*SetterMethod)(const Vector &);
/// Constructor
Setter(E &entity, SetterMethod setterMethod, const std::string &docString);
protected:
virtual Value doExecute();
private:
SetterMethod setterMethod_;
}; // Class Setter
template <class E>
Setter<E, Vector>::Setter(E &entity, SetterMethod setterMethod,
const std::string &docString)
: Command(entity, boost::assign::list_of(Value::VECTOR), docString),
setterMethod_(setterMethod) {}
template <class E>
Value Setter<E, Vector>::doExecute() {
const std::vector<Value> &values = getParameterValues();
// Get parameter
Vector value = values[0].value();
E &entity = static_cast<E &>(owner());
(entity.*setterMethod_)(value);
return Value();
}
//
// Template specialization: Matrix
//
template <class E>
class Setter<E, Matrix> : public Command {
public:
/// Pointer to method that sets parameter of type Matrix
typedef void (E::*SetterMethod)(const Matrix &);
/// Constructor
Setter(E &entity, SetterMethod setterMethod, const std::string &docString);
protected:
virtual Value doExecute();
private:
SetterMethod setterMethod_;
}; // Class Setter
template <class E>
Setter<E, Matrix>::Setter(E &entity, SetterMethod setterMethod,
const std::string &docString)
: Command(entity, boost::assign::list_of(Value::MATRIX), docString),
setterMethod_(setterMethod) {}
template <class E>
Value Setter<E, Matrix>::doExecute() {
const std::vector<Value> &values = getParameterValues();
// Get parameter
Matrix value = values[0].value();
E &entity = static_cast<E &>(owner());
(entity.*setterMethod_)(value);
return Value();
}
} // namespace command
} // namespace dynamicgraph
#endif // DYNAMIC_GRAPH_COMMAND_SETTER_T_CPP
include/dynamic-graph/command.h
View file @ 2e7a70d5
......@@ -8,61 +8,66 @@
#define DYNAMIC_GRAPH_COMMAND_H
#include <vector>
#include "dynamic-graph/value.h"
#include "dynamic-graph/dynamic-graph-api.h"
#include "dynamic-graph/value.h"
namespace dynamicgraph {
class Entity;
namespace command {
/// Abstract class for entity commands
///
/// This class provide a mean to control entities from external python script.
///
/// A command
/// \li is owned by an entity,
/// \li takes parameters of type Value,
/// \li return an instance of Value when calling Command::execute()
///
/// At construction, the prototype of the command is defined by providing
/// a vector of Value::Type.
///
/// Parameters are set by calling Command::setParameterValues with a
/// vector of Values the types of which should fit the vector specified
/// at construction.
class DYNAMIC_GRAPH_DLLAPI Command
{
public:
virtual ~Command();
/// Store the owner entity and a vector of value types
/// \param entity reference to Entity owning this command.
/// \param valueTypes vector specifying the number and types of parameters
/// \param docstring documentation of the command
Command(Entity& entity, const std::vector<Value::Type>& valueTypes,
const std::string& docstring);
/// Return the value type of all parameters
const std::vector<Value::Type>& valueTypes() const;
/// Set parameter values
void setParameterValues(const std::vector<Value>& values);
/// Get parameter values
const std::vector<Value>& getParameterValues() const;
/// Execute the command after checking parameters
Value execute();
/// Get a reference to the Entity owning this command
Entity& owner();
/// Get documentation string
std::string getDocstring() const;
protected:
/// Specific action performed by the command
virtual Value doExecute() = 0;
private:
Entity& owner_;
std::vector<Value::Type> valueTypeVector_;
std::vector<Value> valueVector_;
std::string docstring_;
public:
static const std::vector<Value::Type> EMPTY_ARG;
};
} // namespace command
} // namespace dynamicgraph
class Entity;
namespace command {
/// \ingroup dgraph
/// Abstract class for entity commands
///
/// This class provide a mean to control entities from external
/// python script.
///
/// A command
/// \li is owned by an entity,
/// \li takes parameters of type Value,
/// \li return an instance of Value when calling Command::execute()
///
/// At construction, the prototype of the command is defined by providing
/// a vector of Value::Type.
///
/// Parameters are set by calling Command::setParameterValues with a
/// vector of Values the types of which should fit the vector specified
/// at construction.
class DYNAMIC_GRAPH_DLLAPI Command {
public:
virtual ~Command();
/// Store the owner entity and a vector of value types
/// \param entity reference to Entity owning this command.
/// \param valueTypes vector specifying the number and types of parameters
/// \param docstring documentation of the command
Command(Entity &entity, const std::vector<Value::Type> &valueTypes,
const std::string &docstring);
/// Return the value type of all parameters
const std::vector<Value::Type> &valueTypes() const;
/// Set parameter values
void setParameterValues(const std::vector<Value> &values);
/// Get parameter values
const std::vector<Value> &getParameterValues() const;
/// Execute the command after checking parameters
Value execute();
/// Get a reference to the Entity owning this command
Entity &owner();
/// Get documentation string
std::string getDocstring() const;
protected:
/// Specific action performed by the command
virtual Value doExecute() = 0;
private:
Entity &owner_;
std::vector<Value::Type> valueTypeVector_;
std::vector<Value> valueVector_;
std::string docstring_;
public:
static const std::vector<Value::Type> EMPTY_ARG;
};
} // namespace command
} // namespace dynamicgraph
#endif //DYNAMIC_GRAPH_COMMAND_H
#endif // DYNAMIC_GRAPH_COMMAND_H
include/dynamic-graph/debug.h
View file @ 2e7a70d5
......@@ -4,259 +4,211 @@
//
#ifndef DYNAMIC_GRAPH_DEBUG_HH
# define DYNAMIC_GRAPH_DEBUG_HH
# include <cstdio>
# include <cstdarg>
# include <fstream>
# include <sstream>
# include <dynamic-graph/fwd.hh>
# include <dynamic-graph/dynamic-graph-api.h>
# ifndef VP_DEBUG_MODE
# define VP_DEBUG_MODE 0
# endif //! VP_DEBUG_MODE
# ifndef VP_TEMPLATE_DEBUG_MODE
# define VP_TEMPLATE_DEBUG_MODE 0
# endif //! VP_TEMPLATE_DEBUG_MODE
#define DG_COMMON_TRACES \
do { \
va_list arg; \
va_start (arg, format); \
vsnprintf (charbuffer, SIZE, format, arg); \
va_end (arg); \
outputbuffer << tmpbuffer.str () << charbuffer << std::endl; \
} while(0)
namespace dynamicgraph
{
/// \ingroup debug
///
/// \brief Logging class.
///
/// This class should never be used directly, please use the
/// debugging macro instead.
class DYNAMIC_GRAPH_DLLAPI DebugTrace
{
public:
static const int SIZE = 512;
std::stringstream tmpbuffer;
std::ostream& outputbuffer;
char charbuffer[SIZE+1];
int traceLevel;
int traceLevelTemplate;
DebugTrace (std::ostream& os)
: outputbuffer (os)
{}
inline void trace (const int level, const char* format, ...)
{
if (level <= traceLevel)
DG_COMMON_TRACES; tmpbuffer.str("");
}
inline void trace (const char* format, ...)
{
DG_COMMON_TRACES;
#define DYNAMIC_GRAPH_DEBUG_HH
#include <dynamic-graph/dynamic-graph-api.h>
#include <cstdarg>
#include <cstdio>
#include <dynamic-graph/fwd.hh>
#include <fstream>
#include <sstream>
#ifndef VP_DEBUG_MODE
#define VP_DEBUG_MODE 0
#endif //! VP_DEBUG_MODE
#ifndef VP_TEMPLATE_DEBUG_MODE
#define VP_TEMPLATE_DEBUG_MODE 0
#endif //! VP_TEMPLATE_DEBUG_MODE
#define DG_COMMON_TRACES \
do { \
va_list arg; \
va_start(arg, format); \
vsnprintf(charbuffer, SIZE, format, arg); \
va_end(arg); \
outputbuffer << tmpbuffer.str() << charbuffer << std::endl; \
} while (0)
namespace dynamicgraph {
/// \ingroup debug
///
/// \brief Logging class.
///
/// This class should never be used directly, please use the
/// debugging macro instead.
class DYNAMIC_GRAPH_DLLAPI DebugTrace {
public:
static const int SIZE = 512;
std::stringstream tmpbuffer;
std::ostream &outputbuffer;
char charbuffer[SIZE + 1];
int traceLevel;
int traceLevelTemplate;
DebugTrace(std::ostream &os) : outputbuffer(os) {}
inline void trace(const int level, const char *format, ...) {
if (level <= traceLevel) DG_COMMON_TRACES;
tmpbuffer.str("");
}
inline void trace(const char *format, ...) {
DG_COMMON_TRACES;
tmpbuffer.str("");
}
inline void trace(const int level = -1) {
if (level <= traceLevel) {
outputbuffer << tmpbuffer.str();
tmpbuffer.str("");
}
}
inline void trace (const int level=-1)
{
if (level <= traceLevel) {
outputbuffer << tmpbuffer.str (); tmpbuffer.str("");
}
}
inline void traceTemplate(const int level, const char *format, ...) {
if (level <= traceLevelTemplate) DG_COMMON_TRACES;
tmpbuffer.str("");
}
inline void traceTemplate (const int level, const char* format, ...)
{
if (level <= traceLevelTemplate)
DG_COMMON_TRACES;
tmpbuffer.str("");
}
inline void traceTemplate(const char *format, ...) {
DG_COMMON_TRACES;
tmpbuffer.str("");
}
inline void traceTemplate (const char* format, ...)
{
DG_COMMON_TRACES;
tmpbuffer.str("");
}
inline DebugTrace &pre(const std::ostream &) { return *this; }
inline DebugTrace& pre (const std::ostream&)
{
return *this;
}
inline DebugTrace &pre(const std::ostream &, int level) {
traceLevel = level;
return *this;
}
inline DebugTrace& pre (const std::ostream&, int level)
{
traceLevel = level;
return *this;
}
static const char *DEBUG_FILENAME_DEFAULT;
static void openFile(const char *filename = DEBUG_FILENAME_DEFAULT);
static void closeFile(const char *filename = DEBUG_FILENAME_DEFAULT);
};
static const char* DEBUG_FILENAME_DEFAULT;
static void openFile (const char* filename = DEBUG_FILENAME_DEFAULT);
static void closeFile( const char* filename = DEBUG_FILENAME_DEFAULT);
};
DYNAMIC_GRAPH_DLLAPI extern DebugTrace dgDEBUGFLOW;
DYNAMIC_GRAPH_DLLAPI extern DebugTrace dgERRORFLOW;
} // end of namespace dynamicgraph
DYNAMIC_GRAPH_DLLAPI extern DebugTrace dgDEBUGFLOW;
DYNAMIC_GRAPH_DLLAPI extern DebugTrace dgERRORFLOW;
} // end of namespace dynamicgraph
#ifdef VP_DEBUG
# ifdef VP_DEBUG
#define dgPREDEBUG __FILE__ << ": " << __FUNCTION__ << "(#" << __LINE__ << ") :"
#define dgPREERROR \
"\t!! " << __FILE__ << ": " << __FUNCTION__ << "(#" << __LINE__ << ") :"
# define dgPREDEBUG \
__FILE__ << ": " <<__FUNCTION__ << "(#" << __LINE__ << ") :"
# define dgPREERROR \
"\t!! "<<__FILE__ << ": " <<__FUNCTION__ << "(#" << __LINE__ << ") :"
# define dgDEBUG(level) \
if ((level > VP_DEBUG_MODE) || (!dgDEBUGFLOW.outputbuffer.good ())) \
; \
else \
#define dgDEBUG(level) \
if ((level > VP_DEBUG_MODE) || (!dgDEBUGFLOW.outputbuffer.good())) \
; \
else \
dgDEBUGFLOW.outputbuffer << dgPREDEBUG
# define dgDEBUGMUTE(level) \
if ((level > VP_DEBUG_MODE) || (!dgDEBUGFLOW.outputbuffer.good ())) \
; \
else \
#define dgDEBUGMUTE(level) \
if ((level > VP_DEBUG_MODE) || (!dgDEBUGFLOW.outputbuffer.good())) \
; \
else \
dgDEBUGFLOW.outputbuffer
# define dgERROR \
if (!dgDEBUGFLOW.outputbuffer.good ()) \
; \
else \
#define dgERROR \
if (!dgDEBUGFLOW.outputbuffer.good()) \
; \
else \
dgERRORFLOW.outputbuffer << dgPREERROR
# define dgDEBUGF \
if (!dgDEBUGFLOW.outputbuffer.good ()) \
; \
else \
dgDEBUGFLOW.pre (dgDEBUGFLOW.tmpbuffer << dgPREDEBUG, VP_DEBUG_MODE).trace
#define dgDEBUGF \
if (!dgDEBUGFLOW.outputbuffer.good()) \
; \
else \
dgDEBUGFLOW.pre(dgDEBUGFLOW.tmpbuffer << dgPREDEBUG, VP_DEBUG_MODE).trace
# define dgERRORF \
if (!dgDEBUGFLOW.outputbuffer.good ()) \
; \
else \
dgERRORFLOW.pre (dgERRORFLOW.tmpbuffer << dgPREERROR).trace
#define dgERRORF \
if (!dgDEBUGFLOW.outputbuffer.good()) \
; \
else \
dgERRORFLOW.pre(dgERRORFLOW.tmpbuffer << dgPREERROR).trace
// TEMPLATE
# define dgTDEBUG(level) \
if ((level > VP_TEMPLATE_DEBUG_MODE) || (!dgDEBUGFLOW.outputbuffer.good ())) \
; \
else \
#define dgTDEBUG(level) \
if ((level > VP_TEMPLATE_DEBUG_MODE) || (!dgDEBUGFLOW.outputbuffer.good())) \
; \
else \
dgDEBUGFLOW.outputbuffer << dgPREDEBUG
# define dgTDEBUGF \
if (!dgDEBUGFLOW.outputbuffer.good ()) \
; \
else \
dgDEBUGFLOW.pre \
(dgDEBUGFLOW.tmpbuffer << dgPREDEBUG, VP_TEMPLATE_DEBUG_MODE).trace
#define dgTDEBUGF \
if (!dgDEBUGFLOW.outputbuffer.good()) \
; \
else \
dgDEBUGFLOW \
.pre(dgDEBUGFLOW.tmpbuffer << dgPREDEBUG, VP_TEMPLATE_DEBUG_MODE) \
.trace
inline bool dgDEBUG_ENABLE (const int & level)
{
return level<=VP_DEBUG_MODE;
}
inline bool dgDEBUG_ENABLE(const int &level) { return level <= VP_DEBUG_MODE; }
inline bool dgTDEBUG_ENABLE (const int & level)
{
return level<=VP_TEMPLATE_DEBUG_MODE;
inline bool dgTDEBUG_ENABLE(const int &level) {
return level <= VP_TEMPLATE_DEBUG_MODE;
}
# else // VP_DEBUG
#else // VP_DEBUG
# define dgPREERROR \
"\t!! "<<__FILE__ << ": " <<__FUNCTION__ << "(#" << __LINE__ << ") :"
#define dgPREERROR \
"\t!! " << __FILE__ << ": " << __FUNCTION__ << "(#" << __LINE__ << ") :"
# define dgDEBUG(level) \
if (1) \
; \
else \
#define dgDEBUG(level) \
if (1) \
; \
else \
::dynamicgraph::__null_stream()
# define dgDEBUGMUTE (level) \
if (1) \
; \
else \
::dynamicgraph::__null_stream()
#define dgDEBUGMUTE \
(level) if (1); \
else ::dynamicgraph::__null_stream()
# define dgERROR \
dgERRORFLOW.outputbuffer << dgPREERROR
#define dgERROR dgERRORFLOW.outputbuffer << dgPREERROR
inline void dgDEBUGF (const int, const char*, ...)
{
return;
}
inline void dgDEBUGF(const int, const char *, ...) { return; }
inline void dgDEBUGF (const char*, ...)
{
return;
}
inline void dgDEBUGF(const char *, ...) { return; }
inline void dgERRORF (const int, const char*, ...)
{
return;
}
inline void dgERRORF(const int, const char *, ...) { return; }
inline void dgERRORF (const char*, ...)
{
return;
}
inline void dgERRORF(const char *, ...) { return; }
namespace dynamicgraph
{
inline std::ostream& __null_stream ()
{
namespace dynamicgraph {
inline std::ostream &__null_stream() {
// This function should never be called. With -O3,
// it should not appear in the generated binary.
static std::ostream os (NULL); return os;
static std::ostream os(NULL);
return os;
}
}
} // namespace dynamicgraph
// TEMPLATE
# define dgTDEBUG(level) \
if (1) \
; \
else \
#define dgTDEBUG(level) \
if (1) \
; \
else \
::dynamicgraph::__null_stream()
inline void dgTDEBUGF (const int, const char*, ...)
{
return;
}
inline void dgTDEBUGF (const char*, ...)
{
return;
}
inline void dgTDEBUGF(const int, const char *, ...) { return; }
# define dgDEBUG_ENABLE(level) false
# define dgTDEBUG_ENABLE(level) false
inline void dgTDEBUGF(const char *, ...) { return; }
# endif //! VP_DEBUG
#define dgDEBUG_ENABLE(level) false
#define dgTDEBUG_ENABLE(level) false
# define dgDEBUGIN(level) \
dgDEBUG(level) << "# In {" << std::endl
#endif //! VP_DEBUG
# define dgDEBUGOUT(level) \
dgDEBUG(level) << "# Out }" << std::endl
#define dgDEBUGIN(level) dgDEBUG(level) << "# In {" << std::endl
# define dgDEBUGINOUT(level) \
dgDEBUG(level) << "# In/Out { }" << std::endl
#define dgDEBUGOUT(level) dgDEBUG(level) << "# Out }" << std::endl
#define dgDEBUGINOUT(level) dgDEBUG(level) << "# In/Out { }" << std::endl
# define dgTDEBUGIN(level) \
dgTDEBUG(level) << "# In {" << std::endl
#define dgTDEBUGIN(level) dgTDEBUG(level) << "# In {" << std::endl
# define dgTDEBUGOUT(level) \
dgTDEBUG(level) << "# Out }" << std::endl
#define dgTDEBUGOUT(level) dgTDEBUG(level) << "# Out }" << std::endl
# define dgTDEBUGINOUT(level) \
dgTDEBUG(level) << "# In/Out { }" << std::endl
#define dgTDEBUGINOUT(level) dgTDEBUG(level) << "# In/Out { }" << std::endl
#endif //! DYNAMIC_GRAPH_DEBUG_HH
#endif //! DYNAMIC_GRAPH_DEBUG_HH
include/dynamic-graph/dynamic-graph-api.h
View file @ 2e7a70d5
......@@ -4,6 +4,6 @@
//
#ifndef DYNAMIC_GRAPH_API_H
# define DYNAMIC_GRAPH_API_H
# include <dynamic-graph/config.hh>
#endif //! DYNAMIC_GRAPH_API_H
#define DYNAMIC_GRAPH_API_H
#include <dynamic-graph/config.hh>
#endif //! DYNAMIC_GRAPH_API_H
include/dynamic-graph/eigen-io.h
View file @ 2e7a70d5
......@@ -7,157 +7,160 @@
#ifndef DYNAMIC_GRAPH_EIGEN_IO_H
#define DYNAMIC_GRAPH_EIGEN_IO_H
#include <boost/format.hpp>
#include <boost/numeric/conversion/cast.hpp>
#include <dynamic-graph/exception-signal.h>
#include <dynamic-graph/linear-algebra.h>
#include <Eigen/Geometry>
#include <boost/format.hpp>
#include <boost/numeric/conversion/cast.hpp>
using dynamicgraph::ExceptionSignal;
//TODO: Eigen 3.3 onwards has a global Eigen::Index definition.
//If Eigen version is updated, use Eigen::Index instead of this macro.
// TODO: Eigen 3.3 onwards has a global Eigen::Index definition.
// If Eigen version is updated, use Eigen::Index instead of this macro.
/* \brief Eigen Vector input from istream
*
* Input Vector format: [N](val1,val2,val3,...,valN)
* e.g. [5](1,23,32.2,12.12,32)
*/
/* \brief Eigen Vector input from istream
*
* Input Vector format: [N](val1,val2,val3,...,valN)
* e.g. [5](1,23,32.2,12.12,32)
*/
namespace Eigen {
typedef EIGEN_DEFAULT_DENSE_INDEX_TYPE eigen_index;
inline std::istringstream& operator >> (std::istringstream &iss,
dynamicgraph::Vector &inst) {
unsigned int _size;
double _dbl_val;
char _ch;
boost::format fmt ("Failed to enter %s as vector. Reenter as [N](val1,val2,val3,...,valN)");
fmt %iss.str();
if(iss>> _ch && _ch != '['){
typedef EIGEN_DEFAULT_DENSE_INDEX_TYPE eigen_index;
inline std::istringstream &operator>>(std::istringstream &iss,
dynamicgraph::Vector &inst) {
unsigned int _size;
double _dbl_val;
char _ch;
boost::format fmt(
"Failed to enter %s as vector."
" Reenter as [N](val1,val2,val3,...,valN)");
fmt % iss.str();
if (iss >> _ch && _ch != '[') {
throw ExceptionSignal(ExceptionSignal::GENERIC, fmt.str());
} else {
if (iss >> _size && !iss.fail()) {
inst.resize(_size);
} else
throw ExceptionSignal(ExceptionSignal::GENERIC, fmt.str());
if (iss >> _ch && _ch != ']')
throw ExceptionSignal(ExceptionSignal::GENERIC, fmt.str());
}
else {
if(iss >> _size && !iss.fail()){
inst.resize(_size);
}
else
throw ExceptionSignal(ExceptionSignal::GENERIC, fmt.str());
if(iss >> _ch && _ch != ']')
throw ExceptionSignal(ExceptionSignal::GENERIC, fmt.str());
if (iss >> _ch && _ch != '(')
throw ExceptionSignal(ExceptionSignal::GENERIC, fmt.str());
else {
if(iss>> _ch && _ch != '(')
throw ExceptionSignal(ExceptionSignal::GENERIC, fmt.str());
else {
for (unsigned int i=0;i<_size; i++){
iss >> _dbl_val;
if (iss.peek() == ',' || iss.peek() == ' ')
iss.ignore();
inst(i) = _dbl_val;
}
if(iss >> _ch && _ch != ')')
throw ExceptionSignal(ExceptionSignal::GENERIC, fmt.str());
}
for (unsigned int i = 0; i < _size; i++) {
iss >> _dbl_val;
if (iss.peek() == ',' || iss.peek() == ' ') iss.ignore();
inst(i) = _dbl_val;
}
if (iss >> _ch && _ch != ')')
throw ExceptionSignal(ExceptionSignal::GENERIC, fmt.str());
}
}
return iss;
}
return iss;
}
/* \brief Eigen Matrix input from istream
*
* Matrix format: [M,N]((val11,val12,val13,...,val1N),...,(valM1,valM2,...,valMN))
* e.g. [2,5]((1 23 32.2 12.12 32),(2 32 23 92.01 19.2))
*/
template<typename Derived>
inline std::istringstream& operator >> (std::istringstream &iss,
DenseBase<Derived> &inst) {
unsigned int _colsize;
unsigned int _rowsize;
double _dbl_val;
char _ch;
boost::format fmt ("Failed to enter %s as matrix. Reenter as ((val11,val12,val13,...,val1N),...,(valM1,valM2,...,valMN))");
MatrixXd _tmp_matrix;
fmt %iss.str();
if(iss>> _ch && _ch != '['){
/* \brief Eigen Matrix input from istream
*
* Matrix format: [M,N]((val11,val12,val13,...,val1N),...,
* (valM1,valM2,...,valMN))
* e.g. [2,5]((1 23 32.2 12.12 32),(2 32 23 92.01 19.2))
*/
template <typename Derived>
inline std::istringstream &operator>>(std::istringstream &iss,
DenseBase<Derived> &inst) {
unsigned int _colsize;
unsigned int _rowsize;
double _dbl_val;
char _ch;
boost::format fmt(
"Failed to enter %s as matrix. Reenter as "
"((val11,val12,val13,...,val1N),"
"...,(valM1,valM2,...,valMN))");
MatrixXd _tmp_matrix;
fmt % iss.str();
if (iss >> _ch && _ch != '[') {
throw ExceptionSignal(ExceptionSignal::GENERIC, fmt.str());
} else {
iss >> _rowsize;
if (iss.peek() == ',' || iss.peek() == ' ') iss.ignore();
iss >> _colsize;
if (iss.fail())
throw ExceptionSignal(ExceptionSignal::GENERIC, fmt.str());
}
else {
iss >>_rowsize;
if (iss.peek() == ',' || iss.peek() == ' ')
iss.ignore();
iss >> _colsize;
if (iss.fail())
throw ExceptionSignal(ExceptionSignal::GENERIC,fmt.str());
_tmp_matrix.resize(_rowsize, _colsize);
if (iss >> _ch && _ch != ']')
throw ExceptionSignal(ExceptionSignal::GENERIC, fmt.str());
else {
_tmp_matrix.resize(_rowsize,_colsize);
if(iss >> _ch && _ch != ']')
throw ExceptionSignal(ExceptionSignal::GENERIC, fmt.str());
else {
if(iss>> _ch && _ch != '(')
throw ExceptionSignal(ExceptionSignal::GENERIC, fmt.str());
else {
for (unsigned int j=0;j<_rowsize; j++){
if(iss>> _ch && _ch != '(')
throw ExceptionSignal(ExceptionSignal::GENERIC, fmt.str());
for (unsigned int i=0;i<_colsize; i++){
iss >> _dbl_val;
if (iss.peek() == ',' || iss.peek() == ' ')
iss.ignore();
_tmp_matrix(j,i) = _dbl_val;
}
if(iss >> _ch && _ch != ')')
throw ExceptionSignal(ExceptionSignal::GENERIC, fmt.str());
if (iss.peek() == ',' || iss.peek() == ' ')
iss.ignore();
}
if(iss >> _ch && _ch != ')')
throw ExceptionSignal(ExceptionSignal::GENERIC, fmt.str());
}
}
if (iss >> _ch && _ch != '(')
throw ExceptionSignal(ExceptionSignal::GENERIC, fmt.str());
else {
for (unsigned int j = 0; j < _rowsize; j++) {
if (iss >> _ch && _ch != '(')
throw ExceptionSignal(ExceptionSignal::GENERIC, fmt.str());
for (unsigned int i = 0; i < _colsize; i++) {
iss >> _dbl_val;
if (iss.peek() == ',' || iss.peek() == ' ') iss.ignore();
_tmp_matrix(j, i) = _dbl_val;
}
if (iss >> _ch && _ch != ')')
throw ExceptionSignal(ExceptionSignal::GENERIC, fmt.str());
if (iss.peek() == ',' || iss.peek() == ' ') iss.ignore();
}
if (iss >> _ch && _ch != ')')
throw ExceptionSignal(ExceptionSignal::GENERIC, fmt.str());
}
}
}
inst = _tmp_matrix;
return iss;
}
inst = _tmp_matrix;
return iss;
}
inline std::istringstream &operator>>(std::istringstream &iss,
Transform<double, 3, Affine> &inst) {
MatrixXd M;
iss >> M;
inst.matrix() = M;
return iss;
}
inline std::istringstream& operator >> (std::istringstream &iss,
Transform<double,3,Affine> &inst) {
MatrixXd M; iss >> M; inst.matrix() = M; return iss; }
/* \brief Eigen Homogeneous Matrix output
*
* Matrix format: [M,N]((val11,val12,val13,...,val1N),...,(valM1,valM2,...,valMN))
* e.g. [2,5]((1 23 32.2 12.12 32),(2 32 23 92.01 19.2))
*/
inline std::ostream& operator << (std::ostream &os,
Transform<double,3,Affine> MH) {
IOFormat boostFmt(StreamPrecision, DontAlignCols,
",", ",",
"(",")",
"(",")");
os << "[4,4]"<< MH.matrix().format(boostFmt); return os; }
/* \brief Eigen Homogeneous Matrix output
*
* Matrix format: [M,N]((val11,val12,val13,...,val1N),...,
* (valM1,valM2,...,valMN))
* e.g. [2,5]((1 23 32.2 12.12 32),(2 32 23 92.01 19.2))
*/
inline std::ostream &operator<<(std::ostream &os,
Transform<double, 3, Affine> MH) {
IOFormat boostFmt(StreamPrecision, DontAlignCols, ",", ",", "(", ")", "(",
")");
inline std::ostream& operator << (std::ostream &os,
AngleAxisd quat) {
VectorXd v(4); v(0) = quat.angle(); v.tail<3>() = quat.axis();
os << v; return os; }
os << "[4,4]" << MH.matrix().format(boostFmt);
return os;
}
inline std::istringstream& operator >> (std::istringstream &iss,
AngleAxisd &inst) {
VectorXd v(4); iss >>v;
inst.angle() = v(0); inst.axis() = v.tail<3>();
return iss; }
inline std::ostream &operator<<(std::ostream &os, AngleAxisd quat) {
VectorXd v(4);
v(0) = quat.angle();
v.tail<3>() = quat.axis();
os << v;
return os;
}
inline std::istringstream &operator>>(std::istringstream &iss,
AngleAxisd &inst) {
VectorXd v(4);
iss >> v;
inst.angle() = v(0);
inst.axis() = v.tail<3>();
return iss;
}
} // namespace Eigen
#endif //DYNAMIC_GRAPH_EIGEN_IO_H
#endif // DYNAMIC_GRAPH_EIGEN_IO_H
include/dynamic-graph/entity-helper.h
View file @ 2e7a70d5
......@@ -6,17 +6,14 @@
#ifndef __sot_core_entity_helper_H__
#define __sot_core_entity_helper_H__
namespace dynamicgraph {
namespace dynamicgraph
{
template <typename Ent>
struct EntityHelper {
typedef Ent EntityClassName;
// static const std::string CLASS_NAME; TO BE ADDED IN DG DIRECTLY
};
template< typename Ent >
struct EntityHelper
{
typedef Ent EntityClassName;
//static const std::string CLASS_NAME; TO BE ADDED IN DG DIRECTLY
};
} // namespace dynamicgraph
} // namespace dynamicgraph
#endif // __sot_core_entity_helper_H__
#endif // __sot_core_entity_helper_H__
include/dynamic-graph/entity.h
View file @ 2e7a70d5
......@@ -4,20 +4,19 @@
//
#ifndef DYNAMIC_GRAPH_ENTITY_H
# define DYNAMIC_GRAPH_ENTITY_H
# include <iosfwd>
# include <map>
# include <sstream>
# include <string>
# include <boost/noncopyable.hpp>
# include <dynamic-graph/fwd.hh>
# include <dynamic-graph/dynamic-graph-api.h>
# include <dynamic-graph/exception-factory.h>
# include <dynamic-graph/signal-array.h>
# include <dynamic-graph/signal-base.h>
# include <dynamic-graph/logger.h>
#define DYNAMIC_GRAPH_ENTITY_H
#include <dynamic-graph/dynamic-graph-api.h>
#include <dynamic-graph/exception-factory.h>
#include <dynamic-graph/logger.h>
#include <dynamic-graph/signal-array.h>
#include <dynamic-graph/signal-base.h>
#include <boost/noncopyable.hpp>
#include <dynamic-graph/fwd.hh>
#include <iosfwd>
#include <map>
#include <sstream>
#include <string>
/// \brief Helper macro for entity declaration.
///
......@@ -36,100 +35,150 @@
/// Caution: you *MUST* call DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN in the
/// associated source file to ensure that the attributes generated by
/// this macro are correctly initialized.
# define DYNAMIC_GRAPH_ENTITY_DECL() \
public: \
virtual const std::string& getClassName () const \
{ \
return CLASS_NAME; \
} \
#define DYNAMIC_GRAPH_ENTITY_DECL() \
public: \
virtual const std::string &getClassName() const { return CLASS_NAME; } \
static const std::string CLASS_NAME
namespace dynamicgraph
{
/// \ingroup dgraph
///
/// \brief This class represents an entity, i.e. a generic
/// computational unit that provides input and output signals.
///
/// These signals link the entities together to form a complete
/// computation graph. To declare a new entity, please see the
/// DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN macro in factory.h.
class DYNAMIC_GRAPH_DLLAPI Entity : private boost::noncopyable
{
public:
typedef std::map< std::string,SignalBase<int>* > SignalMap;
typedef std::map<const std::string, command::Command*> CommandMap_t;
explicit Entity (const std::string& name);
virtual ~Entity ();
const std::string& getName () const
{
return name;
}
virtual const std::string& getClassName () const
{
static std::string ret("Entity");
return ret;
}
virtual std::string getDocString () const;
bool hasSignal( const std::string & signame ) const;
SignalBase<int>& getSignal (const std::string& signalName);
const SignalBase<int>& getSignal (const std::string& signalName) const;
std::ostream& displaySignalList(std::ostream& os) const;
virtual std::ostream& writeGraph (std::ostream& os) const;
virtual std::ostream& writeCompletionList (std::ostream& os) const;
virtual void display (std::ostream& os) const;
virtual SignalBase<int>* test ()
{
return 0;
}
virtual void test2 (SignalBase<int>*)
{
return ;
}
const std::string& getCommandList () const;
CommandMap_t getNewStyleCommandMap();
command::Command* getNewStyleCommand( const std::string& cmdName );
SignalMap getSignalMap() const;
/** \name Logger related methods */
/** \{*/
/// \brief Send messages \param msg with level 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);
/// \brief Specify the verbosity level of the logger.
void setLoggerVerbosityLevel(LoggerVerbosity lv)
{logger_.setVerbosity(lv);}
/// \brief Get the logger's verbosity level.
LoggerVerbosity getLoggerVerbosityLevel()
{ return logger_.getVerbosity(); };
protected:
void addCommand(const std::string& name,command::Command* command);
void entityRegistration ();
void entityDeregistration ();
void signalRegistration (const SignalArray<int>& signals);
void signalDeregistration (const std::string& name);
std::string name;
SignalMap signalMap;
CommandMap_t commandMap;
Logger logger_;
};
DYNAMIC_GRAPH_DLLAPI std::ostream&
operator<< (std::ostream& os, const dynamicgraph::Entity& ent);
} // end of namespace dynamicgraph
#endif //! DYNAMIC_GRAPH_ENTITY_H
namespace dynamicgraph {
/// \ingroup dgraph
///
/// \brief This class represents an entity, i.e. a generic
/// computational unit that provides input and output signals.
///
/// These signals link the entities together to form a complete
/// computation graph. To declare a new entity, please see the
/// DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN macro in factory.h.
class DYNAMIC_GRAPH_DLLAPI Entity : private boost::noncopyable {
public:
typedef std::map<std::string, SignalBase<int> *> SignalMap;
typedef std::map<const std::string, command::Command *> CommandMap_t;
explicit Entity(const std::string &name);
virtual ~Entity();
const std::string &getName() const { return name; }
virtual const std::string &getClassName() const {
static std::string ret("Entity");
return ret;
}
/** \brief Returns the Entity documentation
\return The documentation is provided as std::string object.
*/
virtual std::string getDocString() const;
/** \brief Test if a signal of name signame is present.
\return True if the signal is present, False otherwise
*/
bool hasSignal(const std::string &signame) const;
/** \brief Provides a reference to the signal named signalName.
\param signalName: Name of the signal
\return A reference to the signal with a temporal dependency.
*/
SignalBase<int> &getSignal(const std::string &signalName);
/** \brief Provides a const reference to the signal named signalName.
\param signalName: Name of the signal
\return A const reference to the signal with a temporal dependency.
*/
const SignalBase<int> &getSignal(const std::string &signalName) const;
/** \brief Display the list of signals of this entity in output stream os.
\param os: the output stream where to display the list of signals.
\returns The output stream given in parameter.
*/
std::ostream &displaySignalList(std::ostream &os) const;
/** \brief This method is used to write down in os the edges of the graph
by calling the signals writeGraph method.
\param os: The output stream where to write the informations.
\return os: The output stream.
*/
virtual std::ostream &writeGraph(std::ostream &os) const;
/** \brief This method is used write in the output stream os the
signals names and the commands of the entity.
\param os: The output stream where to write the list of objects
related to the entity.
*/
virtual std::ostream &writeCompletionList(std::ostream &os) const;
/** \brief Display information on the entity inside the output stream os.
*/
virtual void display(std::ostream &os) const;
virtual SignalBase<int> *test() { return 0; }
virtual void test2(SignalBase<int> *) { return; }
const std::string &getCommandList() const;
/** \brief Provides the std::map where all the commands are registered
\returns A map of pointers towards Command objects
*/
CommandMap_t getNewStyleCommandMap();
/** \brief Provides the pointer towards the Command object cmdName.
\param cmdName: Name of the command
*/
command::Command *getNewStyleCommand(const std::string &cmdName);
/** \brief Provides a map of all the signals.
\returns A copy of the map with all the pointers towards
the entity signals.
*/
SignalMap getSignalMap() const;
/// \name Logger related methods
/// \{
Logger &logger() { return logger_; };
Logger const &logger() const { return logger_; };
/// \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 std::string &lineId = "");
/// \brief Specify the verbosity level of the logger.
void setLoggerVerbosityLevel(LoggerVerbosity lv) { logger_.setVerbosity(lv); }
/// \brief Get the logger's verbosity level.
LoggerVerbosity getLoggerVerbosityLevel() { return logger_.getVerbosity(); }
/// \brief Set the time sample.
bool setTimeSample(double t) { return logger_.setTimeSample(t); }
/// \brief Get the time sample.
double getTimeSample() { return logger_.getTimeSample(); }
/// \brief Set the period of the stream period
bool setStreamPrintPeriod(double t) {
return logger_.setStreamPrintPeriod(t);
}
/// \brief Get the period of the stream period
double getStreamPrintPeriod() { return logger_.getStreamPrintPeriod(); }
/// \}
protected:
void addCommand(const std::string &name, command::Command *command);
void entityRegistration();
void entityDeregistration();
void signalRegistration(const SignalArray<int> &signals);
void signalDeregistration(const std::string &name);
std::string name;
SignalMap signalMap;
CommandMap_t commandMap;
Logger logger_;
};
DYNAMIC_GRAPH_DLLAPI std::ostream &operator<<(std::ostream &os,
const dynamicgraph::Entity &ent);
} // end of namespace dynamicgraph
#endif //! DYNAMIC_GRAPH_ENTITY_H
include/dynamic-graph/exception-abstract.h
View file @ 2e7a70d5
......@@ -4,154 +4,134 @@
//
#ifndef DYNAMIC_GRAPH_EXCEPTION_ABSTRACT_H
# define DYNAMIC_GRAPH_EXCEPTION_ABSTRACT_H
# include <string>
#define DYNAMIC_GRAPH_EXCEPTION_ABSTRACT_H
#include <dynamic-graph/dynamic-graph-api.h>
# include <dynamic-graph/fwd.hh>
# include <dynamic-graph/dynamic-graph-api.h>
#include <dynamic-graph/fwd.hh>
#include <string>
// Uncomment this macros to have lines parameter on the throw display
// #define DYNAMIC-GRAPH_EXCEPTION_PASSING_PARAM
# define DG_RETHROW \
(const ::dynamicgraph::ExceptionAbstract& err) \
{ \
throw err; \
#define DG_RETHROW \
(const ::dynamicgraph::ExceptionAbstract &err) { throw err; }
#ifdef DYNAMICGRAPH_EXCEPTION_PASSING_PARAM
#define DG_THROW \
throw ::dynamicgraph::ExceptionAbstract::Param(__LINE__, __FUNCTION__, \
__FILE__) +
#else
#define DG_THROW throw
#endif // DYNAMICGRAPH_EXCEPTION_PASSING_PARAM
namespace dynamicgraph {
/// \ingroup error
///
/// \brief Abstract root class for all dynamic-graph exceptions.
class DYNAMIC_GRAPH_DLLAPI ExceptionAbstract : public std::exception {
public:
/// \ingroup error
///
/// \brief Class owned by exceptions to store error locations.
class Param {
public:
static const int BUFFER_SIZE = 80;
Param(const int &_line, const char *_function, const char *_file);
Param()
: functionPTR(),
function(),
line(),
filePTR(),
file(),
pointersSet(false),
set(false) {}
Param &initCopy(const Param &p);
const char *functionPTR;
char function[BUFFER_SIZE];
int line;
const char *filePTR;
char file[BUFFER_SIZE];
bool pointersSet;
bool set;
};
/// \brief Categories error code.
///
/// Each value matches categories used by a subclass of
/// ExceptionAbstract.
///
/// This is the programmer responsibility to make sure there is
/// enough room between two categories error code.
enum ExceptionEnum {
ABSTRACT = 0,
SIGNAL = 100,
FACTORY = 200,
TRACES = 300,
TOOLS = 700
};
static const std::string EXCEPTION_NAME;
explicit ExceptionAbstract(const int &code, const std::string &msg = "");
virtual ~ExceptionAbstract() throw() {}
virtual const std::string &getExceptionName() const { return EXCEPTION_NAME; }
/// \brief Access to the error code.
int getCode() const;
/// \brief Reference access to the error message (can be empty).
const std::string &getStringMessage() const;
/// \brief Access to the pointer on the array of \e char related
/// to the error string.
///
/// Cannot be \e NULL.
const char *getMessage() const;
virtual const char *what() const throw() {
return getStringMessage().c_str();
}
# ifdef DYNAMICGRAPH_EXCEPTION_PASSING_PARAM
# define DG_THROW \
throw ::dynamicgraph::ExceptionAbstract::Param \
(__LINE__, __FUNCTION__, __FILE__) +
# else
# define DG_THROW \
throw
# endif // DYNAMICGRAPH_EXCEPTION_PASSING_PARAM
/// \brief Print the error structure.
DYNAMIC_GRAPH_DLLAPI friend std::ostream &operator<<(
std::ostream &os, const ExceptionAbstract &err);
protected:
/// \brief Error code.
/// \sa ErrorCodeEnum
int code;
namespace dynamicgraph
{
/// \ingroup error
/// \brief Error message (can be empty).
std::string message;
#ifdef DYNAMICGRAPH_EXCEPTION_PASSING_PARAM
/// \brief Optional mutable attribute to store exception location.
///
/// \brief Abstract root class for all dynamic-graph exceptions.
class DYNAMIC_GRAPH_DLLAPI ExceptionAbstract : public std::exception
{
public:
/// \ingroup error
///
/// \brief Class owned by exceptions to store error locations.
class Param
{
public:
static const int BUFFER_SIZE = 80;
Param (const int& _line, const char* _function, const char* _file);
Param ()
: functionPTR (),
function (),
line (),
filePTR (),
file (),
pointersSet (false),
set (false)
{}
Param& initCopy (const Param& p);
const char* functionPTR;
char function[BUFFER_SIZE];
int line;
const char* filePTR;
char file[BUFFER_SIZE];
bool pointersSet;
bool set;
};
/// \brief Categories error code.
///
/// Each value matches categories used by a subclass of
/// ExceptionAbstract.
///
/// This is the programmer responsibility to make sure there is
/// enough room between two categories error code.
enum ExceptionEnum
{
ABSTRACT = 0,
SIGNAL = 100,
FACTORY = 200,
TRACES = 300,
TOOLS = 700
};
static const std::string EXCEPTION_NAME;
explicit ExceptionAbstract (const int& code, const std::string& msg = "");
virtual ~ExceptionAbstract () throw ()
{}
virtual const std::string& getExceptionName () const
{
return EXCEPTION_NAME;
}
/// \brief Access to the error code.
int getCode () const;
/// \brief Reference access to the error message (can be empty).
const std::string& getStringMessage () const;
/// \brief Access to the pointer on the array of \e char related
/// to the error string.
///
/// Cannot be \e NULL.
const char* getMessage () const;
virtual const char* what () const throw ()
{
return getStringMessage ().c_str ();
}
/// \brief Print the error structure.
DYNAMIC_GRAPH_DLLAPI friend std::ostream&
operator << (std::ostream & os, const ExceptionAbstract & err);
protected:
/// \brief Error code.
/// \sa ErrorCodeEnum
int code;
/// \brief Error message (can be empty).
std::string message;
# ifdef DYNAMICGRAPH_EXCEPTION_PASSING_PARAM
/// \brief Optional mutable attribute to store exception location.
///
/// Only present if DYNAMICGRAPH_EXCEPTION_PASSING_PARAM
/// preprocessor symbol exists.
mutable Param p;
template<class Exc>
friend const Exc&
operator+ (const ExceptionAbstract::Param& p, const Exc& e)
{
e.p.initCopy(p);
return e;
}
template<class Exc>
friend Exc&
operator+ (const ExceptionAbstract::Param& p, Exc& e)
{
e.p.initCopy (p);
return e;
}
# endif // DYNAMICGRAPH_EXCEPTION_PASSING_PARAM
private:
/// \brief Forbid the empty constructor (private).
ExceptionAbstract ();
};
} // end of namespace dynamicgraph
/// Only present if DYNAMICGRAPH_EXCEPTION_PASSING_PARAM
/// preprocessor symbol exists.
mutable Param p;
template <class Exc>
friend const Exc &operator+(const ExceptionAbstract::Param &p, const Exc &e) {
e.p.initCopy(p);
return e;
}
template <class Exc>
friend Exc &operator+(const ExceptionAbstract::Param &p, Exc &e) {
e.p.initCopy(p);
return e;
}
#endif // DYNAMICGRAPH_EXCEPTION_PASSING_PARAM
private:
/// \brief Forbid the empty constructor (private).
ExceptionAbstract();
};
} // end of namespace dynamicgraph
#endif //! DYNAMIC_GRAPH_EXCEPTION_ABSTRACT_H
#endif //! DYNAMIC_GRAPH_EXCEPTION_ABSTRACT_H
include/dynamic-graph/exception-factory.h
View file @ 2e7a70d5
......@@ -4,51 +4,46 @@
//
#ifndef DYNAMIC_GRAPH_EXCEPTION_FACTORY_H
# define DYNAMIC_GRAPH_EXCEPTION_FACTORY_H
# include <string>
# include <dynamic-graph/fwd.hh>
# include <dynamic-graph/dynamic-graph-api.h>
# include <dynamic-graph/exception-abstract.h>
namespace dynamicgraph
{
/// \ingroup error
///
/// \brief Generic error class.
class DYNAMIC_GRAPH_DLLAPI ExceptionFactory : public ExceptionAbstract
{
public:
enum ErrorCodeEnum
{
GENERIC = ExceptionAbstract::FACTORY
,UNREFERED_OBJECT
,UNREFERED_SIGNAL
,UNREFERED_FUNCTION
,DYNAMIC_LOADING
,SIGNAL_CONFLICT
,FUNCTION_CONFLICT
,OBJECT_CONFLICT
,SYNTAX_ERROR
,READ_FILE
};
static const std::string EXCEPTION_NAME;
explicit ExceptionFactory (const ExceptionFactory::ErrorCodeEnum& errcode,
const std::string & msg = "");
ExceptionFactory (const ExceptionFactory::ErrorCodeEnum& errcode,
const std::string& msg, const char* format, ...);
virtual ~ExceptionFactory () throw ()
{}
virtual const std::string& getExceptionName () const
{
return ExceptionFactory::EXCEPTION_NAME;
}
#define DYNAMIC_GRAPH_EXCEPTION_FACTORY_H
#include <dynamic-graph/dynamic-graph-api.h>
#include <dynamic-graph/exception-abstract.h>
#include <dynamic-graph/fwd.hh>
#include <string>
namespace dynamicgraph {
/// \ingroup error
///
/// \brief Generic error class.
class DYNAMIC_GRAPH_DLLAPI ExceptionFactory : public ExceptionAbstract {
public:
enum ErrorCodeEnum {
GENERIC = ExceptionAbstract::FACTORY,
UNREFERED_OBJECT,
UNREFERED_SIGNAL,
UNREFERED_FUNCTION,
DYNAMIC_LOADING,
SIGNAL_CONFLICT,
FUNCTION_CONFLICT,
OBJECT_CONFLICT,
SYNTAX_ERROR,
READ_FILE
};
} // end of namespace dynamicgraph
#endif //! DYNAMIC_GRAPH_EXCEPTION_FACTORY_H
static const std::string EXCEPTION_NAME;
explicit ExceptionFactory(const ExceptionFactory::ErrorCodeEnum &errcode,
const std::string &msg = "");
ExceptionFactory(const ExceptionFactory::ErrorCodeEnum &errcode,
const std::string &msg, const char *format, ...);
virtual ~ExceptionFactory() throw() {}
virtual const std::string &getExceptionName() const {
return ExceptionFactory::EXCEPTION_NAME;
}
};
} // end of namespace dynamicgraph
#endif //! DYNAMIC_GRAPH_EXCEPTION_FACTORY_H
include/dynamic-graph/exception-signal.h
View file @ 2e7a70d5
......@@ -4,48 +4,41 @@
//
#ifndef DYNAMIC_GRAPH_EXCEPTION_SIGNAL_H
# define DYNAMIC_GRAPH_EXCEPTION_SIGNAL_H
# include <dynamic-graph/fwd.hh>
# include <dynamic-graph/dynamic-graph-api.h>
# include <dynamic-graph/exception-abstract.h>
namespace dynamicgraph
{
/// \ingroup error
///
/// \brief Exceptions raised when an error related to signals
/// happen.
class DYNAMIC_GRAPH_DLLAPI ExceptionSignal : public ExceptionAbstract
{
public:
enum ErrorCodeEnum
{
GENERIC = ExceptionAbstract::SIGNAL
,READWRITE_LOCK
,COPY_NOT_INITIALIZED
,NOT_INITIALIZED
,PLUG_IMPOSSIBLE
,SET_IMPOSSIBLE
,BAD_CAST
};
static const std::string EXCEPTION_NAME;
explicit ExceptionSignal (const ExceptionSignal::ErrorCodeEnum& errcode,
const std::string & msg = "" );
ExceptionSignal (const ExceptionSignal::ErrorCodeEnum& errcode,
const std::string & msg, const char* format, ...);
virtual ~ExceptionSignal () throw ()
{}
virtual const std::string& getExceptionName () const
{
return EXCEPTION_NAME;
}
#define DYNAMIC_GRAPH_EXCEPTION_SIGNAL_H
#include <dynamic-graph/dynamic-graph-api.h>
#include <dynamic-graph/exception-abstract.h>
#include <dynamic-graph/fwd.hh>
namespace dynamicgraph {
/// \ingroup error
///
/// \brief Exceptions raised when an error related to signals
/// happen.
class DYNAMIC_GRAPH_DLLAPI ExceptionSignal : public ExceptionAbstract {
public:
enum ErrorCodeEnum {
GENERIC = ExceptionAbstract::SIGNAL,
READWRITE_LOCK,
COPY_NOT_INITIALIZED,
NOT_INITIALIZED,
PLUG_IMPOSSIBLE,
SET_IMPOSSIBLE,
BAD_CAST
};
} // end of namespace dynamicgraph
static const std::string EXCEPTION_NAME;
#endif //!DYNAMIC_GRAPH_EXCEPTION_SIGNAL_H
explicit ExceptionSignal(const ExceptionSignal::ErrorCodeEnum &errcode,
const std::string &msg = "");
ExceptionSignal(const ExceptionSignal::ErrorCodeEnum &errcode,
const std::string &msg, const char *format, ...);
virtual ~ExceptionSignal() throw() {}
virtual const std::string &getExceptionName() const { return EXCEPTION_NAME; }
};
} // end of namespace dynamicgraph
#endif //! DYNAMIC_GRAPH_EXCEPTION_SIGNAL_H
include/dynamic-graph/exception-traces.h
View file @ 2e7a70d5
......@@ -4,41 +4,31 @@
//
#ifndef DYNAMIC_GRAPH_EXCEPTION_TRACES_H
# define DYNAMIC_GRAPH_EXCEPTION_TRACES_H
# include <string>
#define DYNAMIC_GRAPH_EXCEPTION_TRACES_H
#include <dynamic-graph/dynamic-graph-api.h>
#include <dynamic-graph/exception-abstract.h>
# include <dynamic-graph/fwd.hh>
# include <dynamic-graph/dynamic-graph-api.h>
# include <dynamic-graph/exception-abstract.h>
#include <dynamic-graph/fwd.hh>
#include <string>
namespace dynamicgraph
{
/// \ingroup error
///
/// \brief Exceptions raised when an error related to traces happen.
class DYNAMIC_GRAPH_DLLAPI ExceptionTraces : public ExceptionAbstract
{
public:
enum ErrorCodeEnum
{
GENERIC = ExceptionAbstract::TRACES
,NOT_OPEN
};
namespace dynamicgraph {
/// \ingroup error
///
/// \brief Exceptions raised when an error related to traces happen.
class DYNAMIC_GRAPH_DLLAPI ExceptionTraces : public ExceptionAbstract {
public:
enum ErrorCodeEnum { GENERIC = ExceptionAbstract::TRACES, NOT_OPEN };
static const std::string EXCEPTION_NAME;
static const std::string EXCEPTION_NAME;
explicit ExceptionTraces (const ExceptionTraces::ErrorCodeEnum& errcode,
const std::string & msg = "");
ExceptionTraces (const ExceptionTraces::ErrorCodeEnum& errcode,
const std::string& msg, const char* format, ...);
virtual ~ExceptionTraces () throw ()
{}
explicit ExceptionTraces(const ExceptionTraces::ErrorCodeEnum &errcode,
const std::string &msg = "");
ExceptionTraces(const ExceptionTraces::ErrorCodeEnum &errcode,
const std::string &msg, const char *format, ...);
virtual ~ExceptionTraces() throw() {}
virtual const std::string& getExceptionName () const
{
return EXCEPTION_NAME;
}
};
} // end of namespace dynamicgraph.
virtual const std::string &getExceptionName() const { return EXCEPTION_NAME; }
};
} // end of namespace dynamicgraph.
#endif //! DYNAMIC_GRAPH_EXCEPTION_TRACES_H
#endif //! DYNAMIC_GRAPH_EXCEPTION_TRACES_H
include/dynamic-graph/factory.h
View file @ 2e7a70d5
......@@ -4,16 +4,15 @@
//
#ifndef DYNAMIC_GRAPH_FACTORY_HH
# define DYNAMIC_GRAPH_FACTORY_HH
# include <map>
# include <string>
# include <vector>
#define DYNAMIC_GRAPH_FACTORY_HH
#include <dynamic-graph/dynamic-graph-api.h>
#include <dynamic-graph/exception-factory.h>
# include <boost/noncopyable.hpp>
# include <dynamic-graph/fwd.hh>
# include <dynamic-graph/exception-factory.h>
# include <dynamic-graph/dynamic-graph-api.h>
#include <boost/noncopyable.hpp>
#include <dynamic-graph/fwd.hh>
#include <map>
#include <string>
#include <vector>
/// \ingroup dgraph
///
......@@ -24,187 +23,180 @@
/// \param CLASSNAME the name of the Entity to be registered (this must
/// be a std::string or a type implicitly castable into a std::string
/// such as classic C string delimited by double quotes).
# define DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(CLASSTYPE, CLASSNAME) \
const std::string CLASSTYPE::CLASS_NAME = CLASSNAME; \
extern "C" { \
::dynamicgraph::Entity* \
EntityMaker_##CLASSTYPE(const std::string& objname) \
{ \
return new CLASSTYPE (objname); \
} \
::dynamicgraph::EntityRegisterer \
reg_##CLASSTYPE (CLASSNAME, \
&EntityMaker_##CLASSTYPE); \
} \
#define DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(CLASSTYPE, CLASSNAME) \
const std::string CLASSTYPE::CLASS_NAME = CLASSNAME; \
extern "C" { \
::dynamicgraph::Entity *EntityMaker_##CLASSTYPE( \
const std::string &objname) { \
return new CLASSTYPE(objname); \
} \
::dynamicgraph::EntityRegisterer reg_##CLASSTYPE(CLASSNAME, \
&EntityMaker_##CLASSTYPE); \
} \
struct e_n_d__w_i_t_h__s_e_m_i_c_o_l_o_n
namespace dynamicgraph {
/// \ingroup dgraph
///
/// \brief Provides a way to create Entity objects from their class
/// name.
///
/// The dynamic graph frameworks relies on entities (see Entity)
/// which defines atomic processing units. This class provides a
/// robust way to enumerate and instantiate these entities.
/// Each entity has a name (its type name) and can be instantiated.
/// Each instance also has a name.
///
/// For instance one can define a C++ class called MyEntity which
/// inherits from dynamicgraph::Entity. This type can be registered
/// into the factory to teach the framework that:
/// - this entity exists
/// - this entity can be instantiated (and how to instantiate it).
///
/// To achieve this, one must pass an entity name and a function pointer.
///
/// The entity name will identify the class <b>at run-time</b>
/// (be careful: this may not be equivalent to the C++ class name
/// even if it is recommended to do so).
///
/// The function pointer must point on a function taking a string as
/// input and returning an instance of the Entity (the concrete
/// subclass, not directly the upper Entity class).
///
/// The instances returned by this function <b>must</b> be
/// dynamically allocated and the caller <b>must</b> get the
/// ownership of the instance (i.e. it will free it when required).
///
/// To finish, please note that the instance name indicates to the
/// entity how the instance itself is called at run-time. This name
/// does not need to be unique and no check is done on it. It is
/// the caller responsibility to make sure that the instance name is
/// appropriate and to check for uniqueness if required.
///
///
/// This class is a singleton. The rationale is that each
/// unique name must identify a unique Entity. The use of a single
/// instance of this class enforces this behavior, instantiating one
/// yourself would break this property.
class DYNAMIC_GRAPH_DLLAPI FactoryStorage : private boost::noncopyable {
public:
/// \brief Function pointer providing an entity instance from its
/// name.
typedef Entity *(*EntityConstructor_ptr)(const std::string &);
~FactoryStorage();
/// \brief Get pointer to unique object of the class
static FactoryStorage *getInstance();
/// \brief Destroy the unique instance of the class
static void destroy();
namespace dynamicgraph
{
/// \ingroup dgraph
/// \brief Add a new entity to the factory.
///
/// \brief Provides a way to create Entity objects from their class
/// name.
/// It is not allowed to have several entities using the same
/// name. If this is the case, an ExceptionFactory exception will
/// be raised with the code OBJECT_CONFLICT.
///
/// If the function pointer is null, an ExceptionFactory exception
/// will be raised with the code OBJECT_CONFLICT.
///
/// \param entname the name used to subscribe the entity.
/// \param ent pointer to a function allocating an entity from an
/// instance name.
void registerEntity(const std::string &entname, EntityConstructor_ptr ent);
/// \brief Delete an entity from the factory.
///
/// The dynamic graph frameworks relies on entities (see Entity)
/// which defines atomic processing units. This class provides a
/// robust way to enumerate and instantiate these entities.
/// Each entity has a name (its type name) and can be instantiated.
/// Each instance also has a name.
/// If the provided entity name does not exist in the factory,
/// an ExceptionFactory exception will be raised with the code
/// OBJECT_CONFLICT.
///
/// For instance one can define a C++ class called MyEntity which
/// inherits from dynamicgraph::Entity. This type can be registered
/// into the factory to teach the framework that:
/// - this entity exists
/// - this entity can be instantiated (and how to instantiate it).
/// \param entname the entity name (as passed to registerEntity before)
void deregisterEntity(const std::string &entname);
/// \brief Instantiate (and allocate) an entity.
///
/// To achieve this, one must pass an entity name and a function pointer.
/// An instance called objname of the entity which type is classname
/// will be allocated by this method.
///
/// The entity name will identify the class <b>at run-time</b>
/// (be careful: this may not be equivalent to the C++ class name
/// even if it is recommended to do so).
/// It is <b>the caller</b> responsibility to free the
/// returned object.
///
/// The function pointer must point on a function taking a string as
/// input and returning an instance of the Entity (the concrete
/// subclass, not directly the upper Entity class).
/// If the class name does not exist, an ExceptionFactory
/// exception will be raised with the code UNREFERED_OBJECT.
///
/// The instances returned by this function <b>must</b> be
/// dynamically allocated and the caller <b>must</b> get the
/// ownership of the instance (i.e. it will free it when required).
/// The instance name (objname) is passed to the Entity
/// constructor and it is the caller responsibility to avoid
/// instance name conflicts if necessary.
///
/// To finish, please note that the instance name indicates to the
/// entity how the instance itself is called at run-time. This name
/// does not need to be unique and no check is done on it. It is
/// the caller responsibility to make sure that the instance name is
/// appropriate and to check for uniqueness if required.
/// \param classname the name of the Entity type
/// \param objname the instance name
/// \return Dynamically allocated instance of classname.
Entity *newEntity(const std::string &classname,
const std::string &objname) const;
/// \brief Check if an Entity associated with a particular name
/// has already been registered.
///
/// \param name entity name
/// \return Do the entity exist?
bool existEntity(const std::string &name) const;
/// \brief List the available entities.
///
/// This class is a singleton. The rationale is that each
/// unique name must identify a unique Entity. The use of a single
/// instance of this class enforces this behavior, instantiating one
/// yourself would break this property.
class DYNAMIC_GRAPH_DLLAPI FactoryStorage : private boost::noncopyable
{
public:
/// \brief Function pointer providing an entity instance from its
/// name.
typedef Entity* (*EntityConstructor_ptr) (const std::string&);
~FactoryStorage ();
/// \brief Get pointer to unique object of the class
static FactoryStorage* getInstance();
/// \brief Destroy the unique instance of the class
static void destroy();
/// \brief Add a new entity to the factory.
///
/// It is not allowed to have several entities using the same
/// name. If this is the case, an ExceptionFactory exception will
/// be raised with the code OBJECT_CONFLICT.
///
/// If the function pointer is null, an ExceptionFactory exception
/// will be raised with the code OBJECT_CONFLICT.
///
/// \param entname the name used to subscribe the entity.
/// \param ent pointer to a function allocating an entity from an
/// instance name.
void registerEntity (const std::string& entname,
EntityConstructor_ptr ent);
/// \brief Delete an entity from the factory.
///
/// If the provided entity name does not exist in the factory,
/// an ExceptionFactory exception will be raised with the code
/// OBJECT_CONFLICT.
///
/// \param entname the entity name (as passed to registerEntity before)
void deregisterEntity (const std::string& entname);
/// \brief Instantiate (and allocate) an entity.
///
/// An instance called objname of the entity which type is classname
/// will be allocated by this method.
///
/// It is <b>the caller</b> responsibility to free the
/// returned object.
///
/// If the class name does not exist, an ExceptionFactory
/// exception will be raised with the code UNREFERED_OBJECT.
///
/// The instance name (objname) is passed to the Entity
/// constructor and it is the caller responsibility to avoid
/// instance name conflicts if necessary.
///
/// \param classname the name of the Entity type
/// \param objname the instance name
/// \return Dynamically allocated instance of classname.
Entity* newEntity (const std::string& classname,
const std::string& objname) const;
/// \brief Check if an Entity associated with a particular name
/// has already been registered.
///
/// \param name entity name
/// \return Do the entity exist?
bool existEntity (const std::string& name) const;
/// \brief List the available entities.
///
/// Available entities are appended to the method argument.
///
/// \param list Available entities will be appended to list.
void listEntities (std::vector <std::string>& list) const;
private:
/// \brief Constructor the factory.
///
/// After the initialization, no entities will be available.
/// registerEntity has to be used to add new entities to the
/// object.
explicit FactoryStorage ();
/// \brief Entity map type.
///
/// This maps entity names to functions pointers which can be
/// used to instantiate an Entity.
typedef std::map<std::string, EntityConstructor_ptr> EntityMap;
/// \brief The entity map storing information about how to
/// instantiate an Entity.
EntityMap entityMap;
/// \pointer to the unique object of the class
static FactoryStorage* instance_;
};
/// \ingroup dgraph
/// Available entities are appended to the method argument.
///
/// \brief This class automatically register an Entity to the
/// global factory at initialization and unregister it during
/// instance destruction.
/// \param list Available entities will be appended to list.
void listEntities(std::vector<std::string> &list) const;
private:
/// \brief Constructor the factory.
///
/// This class is mainly used by the
/// DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN macro and is of little interest
/// by itself.
class DYNAMIC_GRAPH_DLLAPI EntityRegisterer : private boost::noncopyable
{
public:
/// \brief Register entity to the global factory.
explicit EntityRegisterer (const std::string& entityClassName,
FactoryStorage::EntityConstructor_ptr maker);
/// \brief Unregister entity to the global factory.
~EntityRegisterer ();
private:
/// \brief Name of the entity registered when the instance has
/// been initialized.
const std::string entityName;
};
/// After the initialization, no entities will be available.
/// registerEntity has to be used to add new entities to the
/// object.
explicit FactoryStorage();
/// \brief Entity map type.
///
/// This maps entity names to functions pointers which can be
/// used to instantiate an Entity.
typedef std::map<std::string, EntityConstructor_ptr> EntityMap;
/// \brief The entity map storing information about how to
/// instantiate an Entity.
EntityMap entityMap;
/// \pointer to the unique object of the class
static FactoryStorage *instance_;
};
/// \ingroup dgraph
///
/// \brief This class automatically register an Entity to the
/// global factory at initialization and unregister it during
/// instance destruction.
///
/// This class is mainly used by the
/// DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN macro and is of little interest
/// by itself.
class DYNAMIC_GRAPH_DLLAPI EntityRegisterer : private boost::noncopyable {
public:
/// \brief Register entity to the global factory.
explicit EntityRegisterer(const std::string &entityClassName,
FactoryStorage::EntityConstructor_ptr maker);
/// \brief Unregister entity to the global factory.
~EntityRegisterer();
private:
/// \brief Name of the entity registered when the instance has
/// been initialized.
const std::string entityName;
};
} // end of namespace dynamicgraph
#endif //! DYNAMIC_GRAPH_FACTORY_HH
#endif //! DYNAMIC_GRAPH_FACTORY_HH
// LocalWords: unregister
include/dynamic-graph/fwd.hh
View file @ 2e7a70d5
......@@ -3,62 +3,64 @@
//
#ifndef DYNAMIC_GRAPH_FWD_HH
# define DYNAMIC_GRAPH_FWD_HH
namespace dynamicgraph
{
class DebugTrace;
class PluginRefMap;
class Entity;
class EntityRegisterer;
class ExceptionAbstract;
class ExceptionFactory;
class ExceptionSignal;
class ExceptionTraces;
class FactoryStorage;
class Interpreter;
class InterpreterHelper;
class Logger;
class OutStringStream;
class PluginLoader;
class PoolStorage;
class SignalCaster;
class SignalCastRegisterer;
class Tracer;
class TracerRealTime;
template <typename T>
class DefaultCastRegisterer;
template <typename T, typename Time>
class Signal;
template <typename Time>
class SignalArray;
template <typename Time>
class SignalArray_const;
template <typename Time>
class SignalBase;
template <typename T, typename Time>
class SignalPtr;
template <typename T, typename Time>
class SignalTimeDependent;
template <typename Time>
class TimeDependency;
namespace command
{
class Command;
} // end of namespace command.
} // end of namespace dynamicgraph.
#endif //! DYNAMIC_GRAPH_FWD_HH
#define DYNAMIC_GRAPH_FWD_HH
#include <boost/smart_ptr.hpp>
namespace dynamicgraph {
// to be replace by std:: when we switch to C++11 and later
using boost::const_pointer_cast;
using boost::dynamic_pointer_cast;
using boost::make_shared;
using boost::shared_ptr;
using boost::static_pointer_cast;
using boost::weak_ptr;
class DebugTrace;
class PluginRefMap;
class Entity;
class EntityRegisterer;
class ExceptionAbstract;
class ExceptionFactory;
class ExceptionSignal;
class ExceptionTraces;
class FactoryStorage;
class Interpreter;
typedef shared_ptr<Interpreter> InterpreterShPtr_t;
class InterpreterHelper;
class Logger;
class OutStringStream;
class PluginLoader;
class PoolStorage;
class Tracer;
class TracerRealTime;
template <typename T, typename Time>
class Signal;
template <typename Time>
class SignalArray;
template <typename Time>
class SignalArray_const;
template <typename Time>
class SignalBase;
template <typename T, typename Time>
class SignalPtr;
template <typename T, typename Time>
class SignalTimeDependent;
template <typename Time>
class TimeDependency;
namespace command {
class Command;
} // end of namespace command.
} // end of namespace dynamicgraph.
#endif //! DYNAMIC_GRAPH_FWD_HH