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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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#include <dynamic-graph/factory.h> |
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#include <sot/core/com-freezer.hh> |
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#include <sot/core/debug.hh> |
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using namespace dynamicgraph; |
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using namespace dynamicgraph::sot; |
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DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(CoMFreezer, "CoMFreezer"); |
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CoMFreezer::CoMFreezer(const std::string &name) |
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: Entity(name), |
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m_lastCoM(3), |
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m_previousPGInProcess(false), |
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m_lastStopTime(-1) |
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, |
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CoMRefSIN(NULL, "CoMFreezer(" + name + ")::input(vector)::CoMRef"), |
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PGInProcessSIN(NULL, |
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"CoMFreezer(" + name + ")::input(bool)::PGInProcess"), |
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freezedCoMSOUT(boost::bind(&CoMFreezer::computeFreezedCoM, this, _1, _2), |
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CoMRefSIN << PGInProcessSIN, |
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"CoMFreezer(" + name + ")::output(vector)::freezedCoM") { |
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sotDEBUGIN(5); |
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signalRegistration(CoMRefSIN << PGInProcessSIN << freezedCoMSOUT); |
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sotDEBUGOUT(5); |
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} |
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CoMFreezer::~CoMFreezer(void) { |
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sotDEBUGIN(5); |
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sotDEBUGOUT(5); |
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return; |
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} |
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dynamicgraph::Vector &CoMFreezer::computeFreezedCoM( |
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dynamicgraph::Vector &freezedCoM, const int &time) { |
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sotDEBUGIN(15); |
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unsigned PGInProcess = PGInProcessSIN(time); |
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if (PGInProcess) /* CoM unfreezed */ |
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{ |
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m_lastCoM = CoMRefSIN(time); |
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m_previousPGInProcess = (PGInProcess == 0); |
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} else { |
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if (m_previousPGInProcess) /* pg.inprocess switch from 1 to 0 */ |
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{ |
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m_lastStopTime = time; |
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m_lastCoM = CoMRefSIN(time); |
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m_previousPGInProcess = (PGInProcess == 0); |
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} else if (time < m_lastStopTime + 200) /* keep updating for 1s */ |
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{ |
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m_lastCoM = CoMRefSIN(time); |
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} |
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} |
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freezedCoM = m_lastCoM; |
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sotDEBUGOUT(15); |
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if (m_lastStopTime < 0) { |
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m_lastCoM = CoMRefSIN(time); |
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m_lastStopTime = time; |
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freezedCoM = m_lastCoM; |
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return freezedCoM; |
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} |
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return m_lastCoM; |
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} |
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void CoMFreezer::display(std::ostream &os) const { |
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os << "CoMFreezer " << getName() << "." << std::endl; |
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} |