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GCC Code Coverage Report

Directory:	./		Exec	Total	Coverage
File:	include/sot/core/integrator-abstract.hh	Lines:	12	33	36.4 %
Date:	2023-03-13 12:09:37	Branches:	32	64	50.0 %


/*
 * Copyright 2010,
 * François Bleibel,
 * Olivier Stasse,
 *
 * CNRS/AIST
 *
 */

#ifndef __SOT_INTEGRATOR_ABSTRACT_H__
#define __SOT_INTEGRATOR_ABSTRACT_H__

/* --------------------------------------------------------------------- */
/* --- INCLUDE --------------------------------------------------------- */
/* --------------------------------------------------------------------- */

/* Matrix */
#include <dynamic-graph/linear-algebra.h>

/* SOT */
#include <dynamic-graph/all-signals.h>
#include <dynamic-graph/command-bind.h>
#include <dynamic-graph/entity.h>
#include <dynamic-graph/pool.h>

#include <sot/core/debug.hh>
#include <sot/core/flags.hh>

/* STD */
#include <string>

/* --------------------------------------------------------------------- */
/* --- CLASS ----------------------------------------------------------- */
/* --------------------------------------------------------------------- */

namespace dynamicgraph {
namespace sot {

/*! \brief integrates an ODE. If Y is the output and X the input, the
 * following equation is integrated:
 * a_p * d(p)Y / dt^p + .... + a_0 Y = b_m * d(m)X / dt^m + ... . b_0 X
 * a_i are the coefficients of the denominator of the associated transfer
 * function between X and Y, while the b_i are those of the numerator.
 */
template <class sigT, class coefT>
class IntegratorAbstract : public dynamicgraph::Entity {
 public:
  IntegratorAbstract(const std::string &name)
      : dynamicgraph::Entity(name),
        SIN(NULL, "sotIntegratorAbstract(" + name + ")::input(vector)::sin"),
        SOUT(boost::bind(&IntegratorAbstract<sigT, coefT>::integrate, this, _1,
                         _2),
             SIN, "sotIntegratorAbstract(" + name + ")::output(vector)::sout") {
    signalRegistration(SIN << SOUT);

    using namespace dynamicgraph::command;

    const std::string typeName =
        Value::typeName(dynamicgraph::command::ValueHelper<coefT>::TypeID);

    addCommand(
        "pushNumCoef",
        makeCommandVoid1(
            *this, &IntegratorAbstract::pushNumCoef,
            docCommandVoid1("Push a new numerator coefficient", typeName)));
    addCommand(
        "pushDenomCoef",
        makeCommandVoid1(
            *this, &IntegratorAbstract::pushDenomCoef,
            docCommandVoid1("Push a new denominator coefficient", typeName)));

    addCommand(
        "popNumCoef",
        makeCommandVoid0(*this, &IntegratorAbstract::popNumCoef,
                         docCommandVoid0("Pop a new numerator coefficient")));
    addCommand(
        "popDenomCoef",
        makeCommandVoid0(*this, &IntegratorAbstract::popDenomCoef,
                         docCommandVoid0("Pop a new denominator coefficient")));
  }

  virtual ~IntegratorAbstract() {}

  virtual sigT &integrate(sigT &res, int time) = 0;

 public:
  void pushNumCoef(const coefT &numCoef) { numerator.push_back(numCoef); }
  void pushDenomCoef(const coefT &denomCoef) {
    denominator.push_back(denomCoef);
  }
  void popNumCoef() { numerator.pop_back(); }
  void popDenomCoef() { denominator.pop_back(); }

  const std::vector<coefT> &numCoeffs() const { return numerator; }
  void numCoeffs(const std::vector<coefT> &coeffs) { numerator = coeffs; }

  const std::vector<coefT> &denomCoeffs() const { return denominator; }
  void denomCoeffs(const std::vector<coefT> &coeffs) { denominator = coeffs; }

 public:
  dynamicgraph::SignalPtr<sigT, int> SIN;

  dynamicgraph::SignalTimeDependent<sigT, int> SOUT;

  virtual void display(std::ostream &os) const {
    os << this->getClassName() << ": " << getName() << '\n' << "  ";
    if (numerator.empty() || denominator.empty()) {
      os << "ill-formed.";
      return;
    }
    os << numerator[0];
    for (std::size_t i = 1; i < numerator.size(); ++i)
      os << " + " << numerator[i] << " s^" << i;
    os << "\n  " << denominator[0];
    for (std::size_t i = 1; i < denominator.size(); ++i)
      os << " + " << denominator[i] << " s^" << i;
  }

 protected:
  std::vector<coefT> numerator;
  std::vector<coefT> denominator;
};

} /* namespace sot */
} /* namespace dynamicgraph */

#endif


Generated by: GCOVR (Version 4.2)

Line	Branch	Exec	Source
1			/*
2			* Copyright 2010,
3			* François Bleibel,
4			* Olivier Stasse,
5			*
6			* CNRS/AIST
7			*
8			*/
9
10			#ifndef __SOT_INTEGRATOR_ABSTRACT_H__
11			#define __SOT_INTEGRATOR_ABSTRACT_H__
12
13			/* --------------------------------------------------------------------- */
14			/* --- INCLUDE --------------------------------------------------------- */
15			/* --------------------------------------------------------------------- */
16
17			/* Matrix */
18			#include <dynamic-graph/linear-algebra.h>
19
20			/* SOT */
21			#include <dynamic-graph/all-signals.h>
22			#include <dynamic-graph/command-bind.h>
23			#include <dynamic-graph/entity.h>
24			#include <dynamic-graph/pool.h>
25
26			#include <sot/core/debug.hh>
27			#include <sot/core/flags.hh>
28
29			/* STD */
30			#include <string>
31
32			/* --------------------------------------------------------------------- */
33			/* --- CLASS ----------------------------------------------------------- */
34			/* --------------------------------------------------------------------- */
35
36			namespace dynamicgraph {
37			namespace sot {
38
39			/*! \brief integrates an ODE. If Y is the output and X the input, the
40			* following equation is integrated:
41			* a_p * d(p)Y / dt^p + .... + a_0 Y = b_m * d(m)X / dt^m + ... . b_0 X
42			* a_i are the coefficients of the denominator of the associated transfer
43			* function between X and Y, while the b_i are those of the numerator.
44			*/
45			template <class sigT, class coefT>
46			class IntegratorAbstract : public dynamicgraph::Entity {
47			public:
48		2	IntegratorAbstract(const std::string &name)
49			: dynamicgraph::Entity(name),
50			SIN(NULL, "sotIntegratorAbstract(" + name + ")::input(vector)::sin"),
51			SOUT(boost::bind(&IntegratorAbstract<sigT, coefT>::integrate, this, _1,
52			_2),
53	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗	2	SIN, "sotIntegratorAbstract(" + name + ")::output(vector)::sout") {
54	✓✗✓✗	2	signalRegistration(SIN << SOUT);
55
56			using namespace dynamicgraph::command;
57
58	✓✗	2	const std::string typeName =
59			Value::typeName(dynamicgraph::command::ValueHelper<coefT>::TypeID);
60
61	✓✗✓✗	2	addCommand(
62			"pushNumCoef",
63	✓✗✓✗ ✓✗	4	makeCommandVoid1(
64			*this, &IntegratorAbstract::pushNumCoef,
65			docCommandVoid1("Push a new numerator coefficient", typeName)));
66	✓✗✓✗	2	addCommand(
67			"pushDenomCoef",
68	✓✗✓✗ ✓✗	4	makeCommandVoid1(
69			*this, &IntegratorAbstract::pushDenomCoef,
70			docCommandVoid1("Push a new denominator coefficient", typeName)));
71
72	✓✗✓✗	2	addCommand(
73			"popNumCoef",
74	✓✗✓✗ ✓✗	4	makeCommandVoid0(*this, &IntegratorAbstract::popNumCoef,
75			docCommandVoid0("Pop a new numerator coefficient")));
76	✓✗✓✗	2	addCommand(
77			"popDenomCoef",
78	✓✗✓✗ ✓✗	4	makeCommandVoid0(*this, &IntegratorAbstract::popDenomCoef,
79			docCommandVoid0("Pop a new denominator coefficient")));
80			}
81
82			virtual ~IntegratorAbstract() {}
83
84			virtual sigT &integrate(sigT &res, int time) = 0;
85
86			public:
87			void pushNumCoef(const coefT &numCoef) { numerator.push_back(numCoef); }
88			void pushDenomCoef(const coefT &denomCoef) {
89			denominator.push_back(denomCoef);
90			}
91			void popNumCoef() { numerator.pop_back(); }
92			void popDenomCoef() { denominator.pop_back(); }
93
94			const std::vector<coefT> &numCoeffs() const { return numerator; }
95			void numCoeffs(const std::vector<coefT> &coeffs) { numerator = coeffs; }
96
97			const std::vector<coefT> &denomCoeffs() const { return denominator; }
98			void denomCoeffs(const std::vector<coefT> &coeffs) { denominator = coeffs; }
99
100			public:
101			dynamicgraph::SignalPtr<sigT, int> SIN;
102
103			dynamicgraph::SignalTimeDependent<sigT, int> SOUT;
104
105			virtual void display(std::ostream &os) const {
106			os << this->getClassName() << ": " << getName() << '\n' << " ";
107			if (numerator.empty() \|\| denominator.empty()) {
108			os << "ill-formed.";
109			return;
110			}
111			os << numerator[0];
112			for (std::size_t i = 1; i < numerator.size(); ++i)
113			os << " + " << numerator[i] << " s^" << i;
114			os << "\n " << denominator[0];
115			for (std::size_t i = 1; i < denominator.size(); ++i)
116			os << " + " << denominator[i] << " s^" << i;
117			}
118
119			protected:
120			std::vector<coefT> numerator;
121			std::vector<coefT> denominator;
122			};
123
124			} /* namespace sot */
125			} /* namespace dynamicgraph */
126
127			#endif