Directory: | ./ |
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File: | tests/task/test_gain.cpp |
Date: | 2024-08-13 12:13:25 |
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Lines: | 17 | 17 | 100.0% |
Branches: | 22 | 44 | 50.0% |
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1 | /* | ||
2 | * Copyright 2010, | ||
3 | * François Bleibel, | ||
4 | * Olivier Stasse, | ||
5 | * | ||
6 | * CNRS/AIST | ||
7 | * | ||
8 | */ | ||
9 | |||
10 | /* -------------------------------------------------------------------------- */ | ||
11 | /* --- INCLUDES ------------------------------------------------------------- */ | ||
12 | /* -------------------------------------------------------------------------- */ | ||
13 | |||
14 | #include <dynamic-graph/linear-algebra.h> | ||
15 | #include <dynamic-graph/signal.h> | ||
16 | |||
17 | #include <iostream> | ||
18 | #include <sot/core/gain-adaptive.hh> | ||
19 | using namespace std; | ||
20 | using namespace dynamicgraph::sot; | ||
21 | using namespace dynamicgraph; | ||
22 | |||
23 | class DummyClass { | ||
24 | public: | ||
25 | dynamicgraph::Vector err; | ||
26 | |||
27 | 2 | dynamicgraph::Vector &getError(dynamicgraph::Vector &res, int t) { | |
28 | 2 | cout << "Dummy::getError [" << t << "] " << endl; | |
29 | 2 | return res = err; | |
30 | } | ||
31 | }; | ||
32 | |||
33 | DummyClass dummy; | ||
34 | |||
35 | /* -------------------------------------------------------------------------- */ | ||
36 | /* --- INCLUDES ------------------------------------------------------------- */ | ||
37 | /* -------------------------------------------------------------------------- */ | ||
38 | |||
39 | 1 | int main(void) { | |
40 |
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1 | dummy.err.resize(3); |
41 |
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1 | dummy.err.fill(3); |
42 | |||
43 |
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1 | GainAdaptive *gain = new GainAdaptive("gain", 4, 1, 5); |
44 | |||
45 |
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2 | Signal<dynamicgraph::Vector, int> errSig("test"); |
46 |
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1 | errSig.setFunction(boost::bind(&DummyClass::getError, dummy, _1, _2)); |
47 | |||
48 |
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1 | gain->errorSIN.plug(&errSig); |
49 |
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1 | cout << "Appel of errSig and display of the result." << endl; |
50 |
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1 | cout << errSig(0) << endl; |
51 | |||
52 | 1 | Signal<double, int> &gainSig = gain->gainSOUT; | |
53 | |||
54 |
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1 | cout << "Compute gain from Gain Signal and display." << endl; |
55 |
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1 | cout << gainSig(0) << endl; |
56 | |||
57 | 1 | return 0; | |
58 | 1 | } | |
59 |