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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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#include <dynamic-graph/all-commands.h> |
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#include <iostream> |
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#include <sot/core/feature-abstract.hh> |
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#include <sot/core/pool.hh> |
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#include "sot/core/debug.hh" |
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#include "sot/core/exception-feature.hh" |
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using namespace dynamicgraph::sot; |
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using dynamicgraph::sot::ExceptionFeature; |
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const std::string FeatureAbstract::CLASS_NAME = "FeatureAbstract"; |
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FeatureAbstract::FeatureAbstract(const std::string &name) |
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: Entity(name), |
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selectionSIN(NULL, |
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✓✗ | 24 |
"sotFeatureAbstract(" + name + ")::input(flag)::selec"), |
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errordotSIN( |
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✓✗ | 24 |
NULL, "sotFeatureAbstract(" + name + ")::input(vector)::errordotIN"), |
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errorSOUT(boost::bind(&FeatureAbstract::computeError, this, _1, _2), |
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selectionSIN, |
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✓✗ | 24 |
"sotFeatureAbstract(" + name + ")::output(vector)::error"), |
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errordotSOUT(boost::bind(&FeatureAbstract::computeErrorDot, this, _1, _2), |
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✓✗ | 12 |
selectionSIN << errordotSIN, |
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✓✗ | 24 |
"sotFeatureAbstract(" + name + ")::output(vector)::errordot") |
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, |
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jacobianSOUT( |
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boost::bind(&FeatureAbstract::computeJacobian, this, _1, _2), |
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selectionSIN, |
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✓✗ | 24 |
"sotFeatureAbstract(" + name + ")::output(matrix)::jacobian"), |
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dimensionSOUT(boost::bind(&FeatureAbstract::getDimension, this, _1, _2), |
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selectionSIN, |
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✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ |
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"sotFeatureAbstract(" + name + ")::output(uint)::dim") { |
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✓✗✓✗ |
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selectionSIN = true; |
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✓✗✓✗ |
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signalRegistration(selectionSIN << errorSOUT << jacobianSOUT |
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✓✗✓✗ |
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<< dimensionSOUT); |
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✓✗ | 12 |
featureRegistration(); |
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✓✗ | 12 |
initCommands(); |
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} |
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void FeatureAbstract::initCommands(void) { |
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using namespace command; |
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✓✗✓✗ ✓✗ |
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addCommand("setReference", |
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new dynamicgraph::command::Setter<FeatureAbstract, std::string>( |
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*this, &FeatureAbstract::setReferenceByName, |
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"Give the name of the reference feature.\nInput: a string " |
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✓✗✓✗ |
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"(feature name).")); |
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✓✗✓✗ ✓✗ |
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addCommand("getReference", |
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new dynamicgraph::command::Getter<FeatureAbstract, std::string>( |
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*this, &FeatureAbstract::getReferenceByName, |
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"Get the name of the reference feature.\nOutput: a string " |
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✓✗✓✗ |
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"(feature name).")); |
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} |
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void FeatureAbstract::featureRegistration(void) { |
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PoolStorage::getInstance()->registerFeature(name, this); |
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} |
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std::ostream &FeatureAbstract::writeGraph(std::ostream &os) const { |
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Entity::writeGraph(os); |
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if (isReferenceSet()) { |
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const FeatureAbstract *asotFA = getReferenceAbstract(); |
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os << "\t\"" << asotFA->getName() << "\" -> \"" << getName() << "\"" |
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<< "[ color=darkseagreen4 ]" << std::endl; |
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} else |
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std::cout << "asotFAT : 0" << std::endl; |
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return os; |
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} |
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void FeatureAbstract::setReferenceByName(const std::string &name) { |
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setReference( |
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&dynamicgraph::sot::PoolStorage::getInstance()->getFeature(name)); |
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} |
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std::string FeatureAbstract::getReferenceByName() const { |
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if (isReferenceSet()) |
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return getReferenceAbstract()->getName(); |
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else |
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return "none"; |
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} |
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dynamicgraph::Vector &FeatureAbstract::computeErrorDot( |
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dynamicgraph::Vector &res, int time) { |
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const Flags &fl = selectionSIN.access(time); |
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const int &dim = dimensionSOUT(time); |
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unsigned int curr = 0; |
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res.resize(dim); |
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sotDEBUG(25) << "Dim = " << dim << std::endl; |
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✓✗✓✗ ✓✗ |
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if (isReferenceSet() && getReferenceAbstract()->errordotSIN.isPlugged()) { |
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const dynamicgraph::Vector &errdotDes = |
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getReferenceAbstract()->errordotSIN(time); |
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sotDEBUG(15) << "Err* = " << errdotDes; |
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✗✓ | 10 |
if (errdotDes.size() < dim) { |
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SOT_THROW ExceptionFeature( |
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ExceptionFeature::UNCOMPATIBLE_SIZE, |
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"Error: dimension uncompatible with des->errorIN size." |
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" (while considering feature <%s>).", |
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getName().c_str()); |
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} |
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✓✗✓✓ |
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for (int i = 0; i < errdotDes.size(); ++i) |
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✓✗✓✗ ✓✗✓✗ |
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if (fl(i)) res(curr++) = -errdotDes(i); |
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} else |
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res.setZero(); |
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return res; |
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} |
| Generated by: GCOVR (Version 4.2) |