| Directory: | ./ |
|---|---|
| File: | tests/task/test_gain.cpp |
| Date: | 2024-08-13 12:13:25 |
| Exec | Total | Coverage | |
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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"); |
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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; |
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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; |
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1 | cout << gainSig(0) << endl; |
| 56 | |||
| 57 | 1 | return 0; | |
| 58 | 1 | } | |
| 59 |