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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_CORE_BINARYOP_HH |
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#define SOT_CORE_BINARYOP_HH |
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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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/* SOT */ |
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#include <dynamic-graph/all-signals.h> |
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#include <dynamic-graph/entity.h> |
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#include <sot/core/flags.hh> |
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#include <sot/core/matrix-geometry.hh> |
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#include <sot/core/pool.hh> |
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/* STD */ |
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#include <boost/function.hpp> |
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#include <string> |
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namespace dynamicgraph { |
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namespace sot { |
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/* --------------------------------------------------------------------- */ |
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/* --- CLASS ----------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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template <typename Operator> |
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class BinaryOp : public Entity { |
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Operator op; |
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typedef typename Operator::Tin1 Tin1; |
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typedef typename Operator::Tin2 Tin2; |
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typedef typename Operator::Tout Tout; |
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typedef BinaryOp<Operator> Self; |
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public: /* --- CONSTRUCTION --- */ |
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static std::string getTypeIn1Name(void) { return Operator::nameTypeIn1(); } |
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static std::string getTypeIn2Name(void) { return Operator::nameTypeIn2(); } |
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static std::string getTypeOutName(void) { return Operator::nameTypeOut(); } |
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static const std::string CLASS_NAME; |
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virtual const std::string &getClassName() const { return CLASS_NAME; } |
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std::string getDocString() const { return op.getDocString(); } |
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BinaryOp(const std::string &name) |
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: Entity(name), |
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SIN1(NULL, BinaryOp::CLASS_NAME + "(" + name + ")::input(" + |
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getTypeIn1Name() + ")::sin1"), |
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SIN2(NULL, CLASS_NAME + "(" + name + ")::input(" + getTypeIn2Name() + |
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")::sin2"), |
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SOUT(boost::bind(&Self::computeOperation, this, _1, _2), SIN1 << SIN2, |
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CLASS_NAME + "(" + name + ")::output(" + getTypeOutName() + |
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")::sout") { |
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signalRegistration(SIN1 << SIN2 << SOUT); |
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op.addSpecificCommands(*this, commandMap); |
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} |
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virtual ~BinaryOp(void){}; |
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public: /* --- SIGNAL --- */ |
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SignalPtr<Tin1, int> SIN1; |
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SignalPtr<Tin2, int> SIN2; |
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SignalTimeDependent<Tout, int> SOUT; |
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protected: |
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Tout &computeOperation(Tout &res, int time) { |
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const Tin1 &x1 = SIN1(time); |
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const Tin2 &x2 = SIN2(time); |
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op(x1, x2, res); |
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return res; |
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} |
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}; |
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} // namespace sot |
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} // namespace dynamicgraph |
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#endif // #ifndef SOT_CORE_BINARYOP_HH |