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// -*- mode: c++ -*- |
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// Copyright 2010, François Bleibel, Thomas Moulard, Olivier Stasse, |
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// JRL, CNRS/AIST. |
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// |
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#ifndef DYNAMIC_GRAPH_TIME_DEPENDENCY_H |
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#define DYNAMIC_GRAPH_TIME_DEPENDENCY_H |
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#include <dynamic-graph/signal-array.h> |
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#include <dynamic-graph/signal-base.h> |
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#include <dynamic-graph/fwd.hh> |
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#include <list> |
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namespace dynamicgraph { |
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/** \brief A helper class for setting and specifying dependencies |
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between signals. |
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*/ |
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template <class Time> |
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class TimeDependency { |
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public: |
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enum DependencyType { TIME_DEPENDENT, BOOL_DEPENDENT, ALWAYS_READY }; |
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mutable Time lastAskForUpdate; |
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public: |
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SignalBase<Time> &leader; |
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typedef std::list<const SignalBase<Time> *> Dependencies; |
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static const DependencyType DEPENDENCY_TYPE_DEFAULT = TIME_DEPENDENT; |
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Dependencies dependencies; |
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bool updateFromAllChildren; |
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static const bool ALL_READY_DEFAULT = false; |
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DependencyType dependencyType; |
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Time periodTime; |
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static const Time PERIOD_TIME_DEFAULT = 1; |
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public: |
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TimeDependency(SignalBase<Time> *sig, |
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const DependencyType dep = DEPENDENCY_TYPE_DEFAULT); |
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TimeDependency(SignalBase<Time> *sig, const SignalArray_const<Time> &arr, |
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const DependencyType dep = DEPENDENCY_TYPE_DEFAULT); |
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virtual ~TimeDependency() {} |
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void addDependencies(const SignalArray_const<Time> &arr); |
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void addDependency(const SignalBase<Time> &sig); |
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void removeDependency(const SignalBase<Time> &sig); |
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void clearDependency(); |
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virtual std::ostream &writeGraph(std::ostream &os) const; |
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std::ostream &displayDependencies(std::ostream &os, const int depth = -1, |
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std::string space = "", |
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std::string next1 = "", |
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std::string next2 = "") const; |
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bool needUpdate(const Time &t1) const; |
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void setDependencyType(DependencyType dep) { dependencyType = dep; } |
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void setNeedUpdateFromAllChildren(const bool b = true) { |
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updateFromAllChildren = b; |
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} |
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bool getNeedUpdateFromAllChildren() const { return updateFromAllChildren; } |
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void setPeriodTime(const Time &p) { periodTime = p; } |
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Time getPeriodTime() const { return periodTime; } |
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}; |
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} // end of namespace dynamicgraph |
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#include <dynamic-graph/time-dependency.t.cpp> |
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#endif //! DYNAMIC_GRAPH_TIME_DEPENDENCY_H |