| Line |
Branch |
Exec |
Source |
| 1 |
|
|
/* |
| 2 |
|
|
* Copyright 2010, |
| 3 |
|
|
* François Bleibel, |
| 4 |
|
|
* Olivier Stasse, |
| 5 |
|
|
* |
| 6 |
|
|
* CNRS/AIST |
| 7 |
|
|
* |
| 8 |
|
|
*/ |
| 9 |
|
|
|
| 10 |
|
|
#ifndef __SOT_TRACER_H__ |
| 11 |
|
|
#define __SOT_TRACER_H__ |
| 12 |
|
|
|
| 13 |
|
|
/* --------------------------------------------------------------------- */ |
| 14 |
|
|
/* --- INCLUDE --------------------------------------------------------- */ |
| 15 |
|
|
/* --------------------------------------------------------------------- */ |
| 16 |
|
|
|
| 17 |
|
|
/* Matrix */ |
| 18 |
|
|
#include <dynamic-graph/linear-algebra.h> |
| 19 |
|
|
|
| 20 |
|
|
/* STD */ |
| 21 |
|
|
#include <boost/function.hpp> |
| 22 |
|
|
#include <fstream> |
| 23 |
|
|
#include <list> |
| 24 |
|
|
#include <string> |
| 25 |
|
|
#include <vector> |
| 26 |
|
|
|
| 27 |
|
|
/* SOT & DG*/ |
| 28 |
|
|
#include <dynamic-graph/entity.h> |
| 29 |
|
|
#include <dynamic-graph/exception-traces.h> |
| 30 |
|
|
#include <dynamic-graph/signal-base.h> |
| 31 |
|
|
#include <dynamic-graph/signal-ptr.h> |
| 32 |
|
|
#include <dynamic-graph/signal-time-dependent.h> |
| 33 |
|
|
|
| 34 |
|
|
#include <sot/core/flags.hh> |
| 35 |
|
|
|
| 36 |
|
|
/* --------------------------------------------------------------------- */ |
| 37 |
|
|
/* --- API ------------------------------------------------------------- */ |
| 38 |
|
|
/* --------------------------------------------------------------------- */ |
| 39 |
|
|
|
| 40 |
|
|
#if defined(WIN32) |
| 41 |
|
|
#if defined(reader_EXPORTS) |
| 42 |
|
|
#define SOTREADER_EXPORT __declspec(dllexport) |
| 43 |
|
|
#else |
| 44 |
|
|
#define SOTREADER_EXPORT __declspec(dllimport) |
| 45 |
|
|
#endif |
| 46 |
|
|
#else |
| 47 |
|
|
#define SOTREADER_EXPORT |
| 48 |
|
|
#endif |
| 49 |
|
|
|
| 50 |
|
|
/* --------------------------------------------------------------------- */ |
| 51 |
|
|
/* --- TRACER ---------------------------------------------------------- */ |
| 52 |
|
|
/* --------------------------------------------------------------------- */ |
| 53 |
|
|
|
| 54 |
|
|
using dynamicgraph::Entity; |
| 55 |
|
|
using dynamicgraph::SignalPtr; |
| 56 |
|
|
using dynamicgraph::SignalTimeDependent; |
| 57 |
|
|
using dynamicgraph::sot::Flags; |
| 58 |
|
|
|
| 59 |
|
|
class SOTREADER_EXPORT sotReader : public Entity { |
| 60 |
|
✗ |
DYNAMIC_GRAPH_ENTITY_DECL(); |
| 61 |
|
|
|
| 62 |
|
|
public: |
| 63 |
|
|
SignalPtr<Flags, int> selectionSIN; |
| 64 |
|
|
SignalTimeDependent<dynamicgraph::Vector, int> vectorSOUT; |
| 65 |
|
|
SignalTimeDependent<dynamicgraph::Matrix, int> matrixSOUT; |
| 66 |
|
|
|
| 67 |
|
|
public: |
| 68 |
|
|
sotReader(const std::string n); |
| 69 |
|
✗ |
virtual ~sotReader(void) {} |
| 70 |
|
|
|
| 71 |
|
|
void load(const std::string &filename); |
| 72 |
|
|
void clear(void); |
| 73 |
|
|
void rewind(void); |
| 74 |
|
|
|
| 75 |
|
|
protected: |
| 76 |
|
|
typedef std::list<std::vector<double> > DataType; |
| 77 |
|
|
DataType dataSet; |
| 78 |
|
|
DataType::const_iterator currentData; |
| 79 |
|
|
bool iteratorSet; |
| 80 |
|
|
|
| 81 |
|
|
int rows, cols; |
| 82 |
|
|
|
| 83 |
|
|
dynamicgraph::Vector &getNextData(dynamicgraph::Vector &res, |
| 84 |
|
|
const unsigned int time); |
| 85 |
|
|
dynamicgraph::Matrix &getNextMatrix(dynamicgraph::Matrix &res, |
| 86 |
|
|
const unsigned int time); |
| 87 |
|
|
void resize(const int &nbRow, const int &nbCol); |
| 88 |
|
|
|
| 89 |
|
|
public: |
| 90 |
|
|
/* --- PARAMS --- */ |
| 91 |
|
|
void display(std::ostream &os) const; |
| 92 |
|
|
virtual void initCommands(); |
| 93 |
|
|
}; |
| 94 |
|
|
|
| 95 |
|
|
#endif /* #ifndef __SOT_TRACER_H__ */ |
| 96 |
|
|
|