From 62e0b21d43f13af4f9f586aea80c473059700fcd Mon Sep 17 00:00:00 2001
From: Florent Lamiraux <florent@laas.fr>
Date: Tue, 20 Dec 2011 10:28:57 +0100
Subject: [PATCH] Register signal one by one.
---
src/angle-estimator.cpp | 22 +++++++++++++-------
src/dynamic.cpp | 26 ++++++++++++++++-------
src/force-compensation.cpp | 33 +++++++++++++++++++-----------
src/integrator-force.cpp | 12 +++++++----
src/mass-apparent.cpp | 8 ++++++--
src/waist-attitude-from-sensor.cpp | 8 +++++---
src/zmpreffromcom.cpp | 5 ++++-
7 files changed, 78 insertions(+), 36 deletions(-)
diff --git a/src/angle-estimator.cpp b/src/angle-estimator.cpp
index 229f13e..958c5dd 100644
--- a/src/angle-estimator.cpp
+++ b/src/angle-estimator.cpp
@@ -91,13 +91,21 @@ AngleEstimator( const std::string & name )
{
sotDEBUGIN(5);
- signalRegistration( sensorWorldRotationSIN << sensorEmbeddedPositionSIN
- << contactWorldPositionSIN << contactEmbeddedPositionSIN
- << anglesSOUT << flexibilitySOUT
- << driftSOUT << sensorWorldRotationSOUT
- << waistWorldRotationSOUT
- << waistWorldPositionSOUT << waistWorldPoseRPYSOUT
- << jacobianSIN << qdotSIN << xff_dotSOUT << qdotSOUT );
+ signalRegistration(sensorWorldRotationSIN);
+ signalRegistration(sensorEmbeddedPositionSIN);
+ signalRegistration(contactWorldPositionSIN);
+ signalRegistration(contactEmbeddedPositionSIN);
+ signalRegistration(anglesSOUT);
+ signalRegistration(flexibilitySOUT);
+ signalRegistration(driftSOUT);
+ signalRegistration(sensorWorldRotationSOUT);
+ signalRegistration(waistWorldRotationSOUT);
+ signalRegistration(waistWorldPositionSOUT);
+ signalRegistration(waistWorldPoseRPYSOUT);
+ signalRegistration(jacobianSIN);
+ signalRegistration(qdotSIN);
+ signalRegistration(xff_dotSOUT);
+ signalRegistration(qdotSOUT);
/* Commands. */
{
diff --git a/src/dynamic.cpp b/src/dynamic.cpp
index 05d91ca..dd1ae97 100644
--- a/src/dynamic.cpp
+++ b/src/dynamic.cpp
@@ -145,13 +145,25 @@ Dynamic( const std::string & name, bool build )
firstSINTERN.setDependencyType(TimeDependency<int>::BOOL_DEPENDENT);
//DEBUG: Why =0? should be function. firstSINTERN.setConstant(0);
- signalRegistration( jointPositionSIN<<freeFlyerPositionSIN
- <<jointVelocitySIN<<freeFlyerVelocitySIN
- <<jointAccelerationSIN<<freeFlyerAccelerationSIN);
- signalRegistration( zmpSOUT<<comSOUT<<JcomSOUT<<footHeightSOUT);
- signalRegistration(upperJlSOUT<<lowerJlSOUT<<inertiaSOUT
- <<inertiaRealSOUT << inertiaRotorSOUT << gearRatioSOUT );
- signalRegistration( MomentaSOUT << AngularMomentumSOUT << dynamicDriftSOUT);
+ signalRegistration(jointPositionSIN);
+ signalRegistration(freeFlyerPositionSIN);
+ signalRegistration(jointVelocitySIN);
+ signalRegistration(freeFlyerVelocitySIN);
+ signalRegistration(jointAccelerationSIN);
+ signalRegistration(freeFlyerAccelerationSIN);
+ signalRegistration(zmpSOUT);
+ signalRegistration(comSOUT);
+ signalRegistration(JcomSOUT);
+ signalRegistration(footHeightSOUT);
+ signalRegistration(upperJlSOUT);
+ signalRegistration(lowerJlSOUT);
+ signalRegistration(inertiaSOUT);
+ signalRegistration(inertiaRealSOUT);
+ signalRegistration(inertiaRotorSOUT);
+ signalRegistration(gearRatioSOUT);
+ signalRegistration( MomentaSOUT);
+ signalRegistration(AngularMomentumSOUT);
+ signalRegistration(dynamicDriftSOUT);
//
// Commands
diff --git a/src/force-compensation.cpp b/src/force-compensation.cpp
index 36249e3..a102384 100644
--- a/src/force-compensation.cpp
+++ b/src/force-compensation.cpp
@@ -99,18 +99,27 @@ ForceCompensationPlugin( const std::string & name )
{
sotDEBUGIN(5);
- signalRegistration( torsorSIN<< worldRhandSIN
- << handRsensorSIN << translationSensorComSIN
- << gravitySIN << precompensationSIN << gainSensorSIN
- << deadZoneLimitSIN
- << transSensorJointSIN << inertiaJointSIN
- << velocitySIN << accelerationSIN
-
- << handXworldSOUT << handVsensorSOUT << torsorDeadZoneSIN
- << sensorXhandSOUT //<< inertiaSensorSOUT
- << momentumSOUT << momentumSIN
- << torsorCompensatedSOUT << torsorDeadZoneSOUT
- << calibrationTrigerSOUT );
+ signalRegistration(torsorSIN);
+ signalRegistration(worldRhandSIN);
+ signalRegistration(handRsensorSIN);
+ signalRegistration(translationSensorComSIN);
+ signalRegistration(gravitySIN);
+ signalRegistration(precompensationSIN);
+ signalRegistration(gainSensorSIN);
+ signalRegistration(deadZoneLimitSIN);
+ signalRegistration(transSensorJointSIN);
+ signalRegistration(inertiaJointSIN);
+ signalRegistration(velocitySIN );
+ signalRegistration(accelerationSIN);
+ signalRegistration(handXworldSOUT);
+ signalRegistration(handVsensorSOUT);
+ signalRegistration(torsorDeadZoneSIN);
+ signalRegistration(sensorXhandSOUT);
+ signalRegistration(momentumSOUT);
+ signalRegistration(momentumSIN);
+ signalRegistration(torsorCompensatedSOUT);
+ signalRegistration(torsorDeadZoneSOUT);
+ signalRegistration(calibrationTrigerSOUT);
torsorDeadZoneSIN.plug(&torsorCompensatedSOUT);
// By default, I choose: momentum is not compensated.
diff --git a/src/integrator-force.cpp b/src/integrator-force.cpp
index ce06345..27b200f 100644
--- a/src/integrator-force.cpp
+++ b/src/integrator-force.cpp
@@ -52,10 +52,14 @@ IntegratorForce( const std::string & name )
{
sotDEBUGIN(5);
- signalRegistration( forceSIN << massInverseSIN
- << frictionSIN << velocityPrecSIN
- << velocityDerivativeSOUT << velocitySOUT
- << massInverseSOUT << massSIN );
+ signalRegistration(forceSIN);
+ signalRegistration(massInverseSIN);
+ signalRegistration(frictionSIN);
+ signalRegistration(velocityPrecSIN);
+ signalRegistration(velocityDerivativeSOUT );
+ signalRegistration(velocitySOUT );
+ signalRegistration(massInverseSOUT );
+ signalRegistration(massSIN );
massInverseSIN.plug( &massInverseSOUT );
diff --git a/src/mass-apparent.cpp b/src/mass-apparent.cpp
index aea9fca..5598345 100644
--- a/src/mass-apparent.cpp
+++ b/src/mass-apparent.cpp
@@ -46,8 +46,12 @@ MassApparent( const std::string & name )
{
sotDEBUGIN(5);
- signalRegistration( jacobianSIN << inertiaInverseSIN << massInverseSOUT << massSOUT
- << inertiaSIN << inertiaInverseSOUT);
+ signalRegistration(jacobianSIN);
+ signalRegistration(inertiaInverseSIN);
+ signalRegistration(massInverseSOUT);
+ signalRegistration(massSOUT);
+ signalRegistration(inertiaSIN);
+ signalRegistration(inertiaInverseSOUT);
inertiaInverseSIN.plug( &inertiaInverseSOUT );
sotDEBUGOUT(5);
diff --git a/src/waist-attitude-from-sensor.cpp b/src/waist-attitude-from-sensor.cpp
index 69034b6..660d74d 100644
--- a/src/waist-attitude-from-sensor.cpp
+++ b/src/waist-attitude-from-sensor.cpp
@@ -41,8 +41,9 @@ WaistAttitudeFromSensor( const std::string & name )
{
sotDEBUGIN(5);
- signalRegistration( attitudeSensorSIN<<positionSensorSIN
- <<attitudeWaistSOUT );
+ signalRegistration(attitudeSensorSIN);
+ signalRegistration(positionSensorSIN);
+ signalRegistration(attitudeWaistSOUT);
sotDEBUGOUT(5);
}
@@ -117,7 +118,8 @@ WaistPoseFromSensorAndContact( const std::string & name )
{
sotDEBUGIN(5);
- signalRegistration( positionContactSIN<<positionWaistSOUT );
+ signalRegistration( positionContactSIN);
+ signalRegistration(positionWaistSOUT );
// Commands
std::string docstring;
diff --git a/src/zmpreffromcom.cpp b/src/zmpreffromcom.cpp
index 6f30f74..a941603 100644
--- a/src/zmpreffromcom.cpp
+++ b/src/zmpreffromcom.cpp
@@ -44,7 +44,10 @@ ZmprefFromCom( const std::string & name )
{
sotDEBUGIN(5);
- signalRegistration(waistPositionSIN<<comPositionSIN<<dcomSIN<<zmprefSOUT );
+ signalRegistration(waistPositionSIN);
+ signalRegistration(comPositionSIN);
+ signalRegistration(dcomSIN);
+ signalRegistration(zmprefSOUT);
sotDEBUGOUT(5);
}
--
GitLab