GCC Code Coverage Report

Directory: ./
File: include/sot/core/integrator-abstract.hh
Date: 2024-08-13 12:13:25
Exec Total Coverage
Lines: 14 35 40.0%
Branches: 32 64 50.0%
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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
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 2 SIN(NULL, "sotIntegratorAbstract(" + name + ")::input(vector)::sin"),
51
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 2 SOUT(boost::bind(&IntegratorAbstract<sigT, coefT>::integrate, this, _1,
52 _2),
53
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 4 SIN, "sotIntegratorAbstract(" + name + ")::output(vector)::sout") {
54
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 2 signalRegistration(SIN << SOUT);
55
56 using namespace dynamicgraph::command;
57
58
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 2 const std::string typeName =
59 Value::typeName(dynamicgraph::command::ValueHelper<coefT>::TypeID);
60
61
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 2 addCommand(
62 "pushNumCoef",
63
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 4 makeCommandVoid1(
64 *this, &IntegratorAbstract::pushNumCoef,
65 docCommandVoid1("Push a new numerator coefficient", typeName)));
66
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 2 addCommand(
67 "pushDenomCoef",
68
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 4 makeCommandVoid1(
69 *this, &IntegratorAbstract::pushDenomCoef,
70 docCommandVoid1("Push a new denominator coefficient", typeName)));
71
72
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 2 addCommand(
73 "popNumCoef",
74
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 4 makeCommandVoid0(*this, &IntegratorAbstract::popNumCoef,
75 docCommandVoid0("Pop a new numerator coefficient")));
76
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 2 addCommand(
77 "popDenomCoef",
78
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 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
128