round-double-to-int.cpp

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/*
 * Copyright 2018, Gepetto team, LAAS-CNRS
 *
 * This file is part of sot-talos-balance.
 * sot-talos-balance is free software: you can redistribute it and/or
 * modify it under the terms of the GNU Lesser General Public License
 * as published by the Free Software Foundation, either version 3 of
 * the License, or (at your option) any later version.
 * sot-talos-balance is distributed in the hope that it will be
 * useful, but WITHOUT ANY WARRANTY; without even the implied warranty
 * of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU Lesser General Public License for more details.  You should
 * have received a copy of the GNU Lesser General Public License along
 * with sot-talos-balance.  If not, see <http://www.gnu.org/licenses/>.
 */
 
#include "sot/talos_balance/round-double-to-int.hh"
 
#include <dynamic-graph/all-commands.h>
#include <dynamic-graph/factory.h>
 
#include <sot/core/debug.hh>
 
namespace dynamicgraph {
namespace sot {
namespace talos_balance {
namespace dg = ::dynamicgraph;
using namespace dg;
using namespace dg::command;
 
#define INPUT_SIGNALS m_sinSIN
 
#define OUTPUT_SIGNALS m_soutSOUT
 
typedef RoundDoubleToInt EntityClassName;
 
/* --- DG FACTORY ---------------------------------------------------- */
DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(RoundDoubleToInt, "RoundDoubleToInt");
 
/* ------------------------------------------------------------------- */
/* --- CONSTRUCTION -------------------------------------------------- */
/* ------------------------------------------------------------------- */
RoundDoubleToInt::RoundDoubleToInt(const std::string& name)
    : Entity(name),
      CONSTRUCT_SIGNAL_IN(sin, double),
      CONSTRUCT_SIGNAL_OUT(sout, int, INPUT_SIGNALS) {
  Entity::signalRegistration(INPUT_SIGNALS << OUTPUT_SIGNALS);
 
  /* Commands. */
  addCommand("init",
             makeCommandVoid0(*this, &RoundDoubleToInt::init,
                              docCommandVoid0("Initialize the entity.")));
}
 
/* ------------------------------------------------------------------- */
/* --- SIGNALS ------------------------------------------------------- */
/* ------------------------------------------------------------------- */
 
DEFINE_SIGNAL_OUT_FUNCTION(sout, int) {
  double in = m_sinSIN(iter);
  s = int(round(in));
  return s;
}
 
/* ------------------------------------------------------------------- */
/* --- ENTITY -------------------------------------------------------- */
/* ------------------------------------------------------------------- */
 
void RoundDoubleToInt::display(std::ostream& os) const {
  os << "RoundDoubleToInt " << getName();
  //        try
  //        {
  //          getProfiler().report_all(3, os);
  //        }
  //        catch (ExceptionSignal e) {}
}
 
}  // namespace talos_balance
}  // namespace sot
}  // namespace dynamicgraph