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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/matrix-constant.hh> |
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#include "../src/matrix/matrix-constant-command.h" |
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using namespace std; |
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using namespace dynamicgraph::sot; |
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using namespace dynamicgraph; |
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DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(MatrixConstant, "MatrixConstant"); |
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/* --------------------------------------------------------------------- */ |
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/* --- MATRIX ---------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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MatrixConstant::MatrixConstant(const std::string &name) |
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: Entity(name), |
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rows(0), |
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cols(0), |
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SOUT("sotMatrixConstant(" + name + ")::output(matrix)::sout") { |
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SOUT.setDependencyType(TimeDependency<int>::BOOL_DEPENDENT); |
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signalRegistration(SOUT); |
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// |
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// Commands |
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// Resize |
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std::string docstring; |
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docstring = |
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" \n" |
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" Resize the matrix and set it to zero.\n" |
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" Input\n" |
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" - unsigned int: number of lines.\n" |
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" - unsigned int: number of columns.\n" |
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"\n"; |
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addCommand("resize", new command::matrixConstant::Resize(*this, docstring)); |
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// set |
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docstring = |
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" \n" |
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" Set value of output signal\n" |
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" \n" |
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" input:\n" |
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" - a matrix\n" |
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" \n"; |
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addCommand( |
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"set", |
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new ::dynamicgraph::command::Setter<MatrixConstant, dynamicgraph::Matrix>( |
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*this, &MatrixConstant::setValue, docstring)); |
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} |
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void MatrixConstant::setValue(const dynamicgraph::Matrix &inValue) { |
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SOUT.setConstant(inValue); |
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} |