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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 <sot/core/factory.hh> |
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#include <sot/core/fir-filter.hh> |
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using dynamicgraph::Entity; |
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using dynamicgraph::EntityRegisterer; |
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using dynamicgraph::Vector; |
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#define SOT_FACTORY_TEMPLATE_ENTITY_PLUGIN(sotClassType, sotSigType, \ |
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sotCoefType, id, className) \ |
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template <> \ |
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std::string sotClassType<sotSigType, sotCoefType>::getTypeName(void) { \ |
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return #sotSigType; \ |
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} \ |
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\ |
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template <> \ |
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const std::string sotClassType<sotSigType, sotCoefType>::CLASS_NAME = \ |
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std::string(className) + "_" + #sotSigType + "_" + #sotCoefType; \ |
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\ |
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template <> \ |
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const std::string &sotClassType<sotSigType, sotCoefType>::getClassName(void) \ |
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const { \ |
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return CLASS_NAME; \ |
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} \ |
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extern "C" { \ |
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Entity *regFunction##_##id(const std::string &objname) { \ |
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return new sotClassType<sotSigType, sotCoefType>(objname); \ |
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} \ |
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EntityRegisterer reg##_##id(std::string(className) + "_" + #sotSigType + \ |
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"_" + #sotCoefType, \ |
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®Function##_##id); \ |
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} |
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namespace dynamicgraph { |
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namespace sot { |
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using dynamicgraph::command::Command; |
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using dynamicgraph::command::Value; |
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SOT_FACTORY_TEMPLATE_ENTITY_PLUGIN(FIRFilter, double, double, double_double, |
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"FIRFilter") |
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SOT_FACTORY_TEMPLATE_ENTITY_PLUGIN(FIRFilter, Vector, double, vec_double, |
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"FIRFilter") |
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SOT_FACTORY_TEMPLATE_ENTITY_PLUGIN(FIRFilter, Vector, Matrix, vec_mat, |
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"FIRFilter") |
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template <> |
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void FIRFilter<Vector, double>::reset_signal(Vector &res, |
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const Vector &sample) { |
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res.resize(sample.size()); |
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res.fill(0); |
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} |
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template <> |
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void FIRFilter<Vector, Matrix>::reset_signal(Vector &res, |
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const Vector &sample) { |
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res.resize(sample.size()); |
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res.fill(0); |
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} |
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} // namespace sot |
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} // namespace dynamicgraph |
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#include <sot/core/fir-filter-impl.hh> |
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#ifdef WIN32 |
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#define DEFINE_SPECIFICATION(sotClassType, sotSigType, sotCoefType) \ |
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sotClassType##sotSigType##sotCoefType:: \ |
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sotClassType##sotSigType##sotCoefType(const std::string &name) \ |
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: sotClassType<sotSigType, sotCoefType>(name){}; |
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namespace dynamicgraph { |
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namespace sot { |
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typedef double Double; |
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typedef Value dynamicgraph::command::Value; |
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DEFINE_SPECIFICATION(FIRFilter, Double, Double) |
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DEFINE_SPECIFICATION(FIRFilter, Vector, Double) |
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DEFINE_SPECIFICATION(FIRFilter, Vector, Matrix) |
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} // namespace sot |
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} // namespace dynamicgraph |
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#endif // WIN32 |