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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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/* --- SOT --- */ |
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#include <sot/core/binary-int-to-uint.hh> |
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#include <sot/core/debug.hh> |
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#include <sot/core/exception-feature.hh> |
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#include <sot/core/pool.hh> |
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using namespace std; |
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#include <dynamic-graph/factory.h> |
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using namespace dynamicgraph::sot; |
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using namespace dynamicgraph; |
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DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(BinaryIntToUint, "BinaryIntToUint"); |
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/* --------------------------------------------------------------------- */ |
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/* --- CLASS ----------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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BinaryIntToUint::BinaryIntToUint(const string &fname) |
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: Entity(fname), |
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binaryIntSIN(NULL, "BinaryIntToUint(" + name + ")::input(int)::sin"), |
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binaryUintSOUT( |
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boost::bind(&BinaryIntToUint::computeOutput, this, _1, _2), |
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binaryIntSIN, |
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"BinaryIntToUint(" + name + ")::output(unsigned int)::sout") { |
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signalRegistration(binaryIntSIN << binaryUintSOUT); |
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} |
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/* --------------------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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unsigned &BinaryIntToUint::computeOutput(unsigned &res, int time) { |
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sotDEBUGIN(15); |
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int in = binaryIntSIN.access(time); |
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if (in < 0) { |
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res = 0; |
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} else { |
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res = 1; |
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} |
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sotDEBUGOUT(15); |
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return res; |
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} |
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void BinaryIntToUint::display(std::ostream &os) const { |
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os << "BinaryIntToUint <" << name << "> TODO..." << endl; |
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} |