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// Copyright (c) 2017, Joseph Mirabel |
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// Authors: Joseph Mirabel (joseph.mirabel@laas.fr) |
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#include <dynamic-graph/factory.h> |
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#include <sot/core/event.hh> |
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namespace dynamicgraph { |
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namespace sot { |
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bool &Event::check(bool &ret, const int &time) { |
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const bool &val = conditionSIN(time); |
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ret = (val != lastVal_); |
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bool up = (!lastVal_ && val); |
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if (up) { |
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timeSinceUp_ = 0; |
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} else if (val) { |
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++timeSinceUp_; |
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} |
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// If repetition is activated, trigger again after given number of iterations |
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bool trigger = up || (repeatAfterNIterations_ > 0 && |
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timeSinceUp_ >= repeatAfterNIterations_); |
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if (ret) { |
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lastVal_ = val; |
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} |
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if (trigger) { |
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for (Triggers_t::const_iterator _s = triggers.begin(); _s != triggers.end(); |
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++_s) |
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(*_s)->recompute(time); |
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timeSinceUp_ = 0; |
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} |
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return ret; |
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} |
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DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(Event, "Event"); |
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} // namespace sot |
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} // namespace dynamicgraph |