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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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/* --------------------------------------------------------------------- */ |
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/* --- INCLUDE --------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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//#define VP_DEBUG |
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//#define VP_DEBUG_MODE 15 |
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/* SOT */ |
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#include <sot/core/debug.hh> |
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#include <sot/core/task-unilateral.hh> |
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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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#include <sot/core/factory.hh> |
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DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(TaskUnilateral, "TaskUnilateral"); |
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/* --------------------------------------------------------------------- */ |
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/* --- CLASS ----------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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TaskUnilateral::TaskUnilateral(const std::string &n) |
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: Task(n), |
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featureList(), |
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positionSIN(NULL, |
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"sotTaskUnilateral(" + n + ")::input(vector)::position"), |
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referenceInfSIN( |
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NULL, "sotTaskUnilateral(" + n + ")::input(vector)::referenceInf"), |
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referenceSupSIN( |
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NULL, "sotTaskUnilateral(" + n + ")::input(vector)::referenceSup"), |
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dtSIN(NULL, "sotTaskUnilateral(" + n + ")::input(double)::dt") { |
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taskSOUT.setFunction( |
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boost::bind(&TaskUnilateral::computeTaskUnilateral, this, _1, _2)); |
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taskSOUT.clearDependencies(); |
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taskSOUT.addDependency(referenceSupSIN); |
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taskSOUT.addDependency(referenceInfSIN); |
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taskSOUT.addDependency(dtSIN); |
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taskSOUT.addDependency(positionSIN); |
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signalRegistration(referenceSupSIN << dtSIN << referenceInfSIN |
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<< positionSIN); |
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} |
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/* --- COMPUTATION ---------------------------------------------------------- */ |
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/* --- COMPUTATION ---------------------------------------------------------- */ |
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/* --- COMPUTATION ---------------------------------------------------------- */ |
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VectorMultiBound &TaskUnilateral::computeTaskUnilateral(VectorMultiBound &res, |
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int time) { |
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sotDEBUG(45) << "# In " << getName() << " {" << endl; |
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const dynamicgraph::Vector &position = positionSIN(time); |
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sotDEBUG(35) << "position = " << position << endl; |
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const dynamicgraph::Vector &refInf = referenceInfSIN(time); |
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const dynamicgraph::Vector &refSup = referenceSupSIN(time); |
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const double &dt = dtSIN(time); |
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res.resize(position.size()); |
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for (unsigned int i = 0; i < res.size(); ++i) { |
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MultiBound toto((refInf(i) - position(i)) / dt, |
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(refSup(i) - position(i)) / dt); |
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res[i] = toto; |
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} |
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sotDEBUG(15) << "taskU = " << res << std::endl; |
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sotDEBUG(45) << "# Out }" << endl; |
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return res; |
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} |
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/* --- DISPLAY ------------------------------------------------------------ */ |
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/* --- DISPLAY ------------------------------------------------------------ */ |
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/* --- DISPLAY ------------------------------------------------------------ */ |
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void TaskUnilateral::display(std::ostream &os) const { |
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os << "TaskUnilateral " << name << ": " << endl; |
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} |