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/* |
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* Copyright 2010, |
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* François Bleibel, |
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* Olivier Stasse, |
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* |
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* CNRS/AIST |
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* |
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*/ |
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#ifndef __SOT_TRACER_H__ |
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#define __SOT_TRACER_H__ |
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/* --------------------------------------------------------------------- */ |
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/* --- INCLUDE --------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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/* Matrix */ |
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#include <dynamic-graph/linear-algebra.h> |
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/* STD */ |
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#include <boost/function.hpp> |
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#include <fstream> |
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#include <list> |
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#include <string> |
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#include <vector> |
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/* SOT & DG*/ |
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#include <dynamic-graph/entity.h> |
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#include <dynamic-graph/exception-traces.h> |
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#include <dynamic-graph/signal-base.h> |
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#include <dynamic-graph/signal-ptr.h> |
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#include <dynamic-graph/signal-time-dependent.h> |
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#include <sot/core/flags.hh> |
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/* --------------------------------------------------------------------- */ |
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/* --- API ------------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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#if defined(WIN32) |
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#if defined(reader_EXPORTS) |
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#define SOTREADER_EXPORT __declspec(dllexport) |
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#else |
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#define SOTREADER_EXPORT __declspec(dllimport) |
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#endif |
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#else |
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#define SOTREADER_EXPORT |
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#endif |
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/* --------------------------------------------------------------------- */ |
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/* --- TRACER ---------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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using dynamicgraph::Entity; |
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using dynamicgraph::SignalPtr; |
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using dynamicgraph::SignalTimeDependent; |
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using dynamicgraph::sot::Flags; |
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class SOTREADER_EXPORT sotReader : public Entity { |
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DYNAMIC_GRAPH_ENTITY_DECL(); |
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public: |
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SignalPtr<Flags, int> selectionSIN; |
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SignalTimeDependent<dynamicgraph::Vector, int> vectorSOUT; |
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SignalTimeDependent<dynamicgraph::Matrix, int> matrixSOUT; |
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public: |
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sotReader(const std::string n); |
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virtual ~sotReader(void) {} |
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void load(const std::string &filename); |
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void clear(void); |
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void rewind(void); |
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protected: |
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typedef std::list<std::vector<double> > DataType; |
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DataType dataSet; |
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DataType::const_iterator currentData; |
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bool iteratorSet; |
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int rows, cols; |
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dynamicgraph::Vector &getNextData(dynamicgraph::Vector &res, |
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const unsigned int time); |
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dynamicgraph::Matrix &getNextMatrix(dynamicgraph::Matrix &res, |
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const unsigned int time); |
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void resize(const int &nbRow, const int &nbCol); |
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public: |
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/* --- PARAMS --- */ |
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void display(std::ostream &os) const; |
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virtual void initCommands(); |
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}; |
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#endif /* #ifndef __SOT_TRACER_H__ */ |