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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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/* --- INCLUDES ------------------------------------------------------------- */ |
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/* -------------------------------------------------------------------------- */ |
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#include <dynamic-graph/all-signals.h> |
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#include <dynamic-graph/linear-algebra.h> |
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#include <iostream> |
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#include <sot/core/debug.hh> |
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#include <sot/core/exception-abstract.hh> |
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#include <sot/core/matrix-geometry.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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template <class Res = double> |
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class DummyClass { |
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public: |
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✓✗ |
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DummyClass(void) : res(), appel(0), timedata(0) {} |
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Res &fun(Res &res, int t) { |
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appel++; |
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timedata = t; |
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sotDEBUG(5) << "Inside " << typeid(Res).name() << endl; |
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for (list<SignalTimeDependent<double, int> *>::iterator it = |
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inputsig.begin(); |
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✗✓ |
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it != inputsig.end(); ++it) { |
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sotDEBUG(5) << *(*it) << endl; |
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(*it)->access(timedata); |
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} |
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for (list<SignalTimeDependent<dynamicgraph::Vector, int> *>::iterator it = |
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inputsigV.begin(); |
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✗✓ |
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it != inputsigV.end(); ++it) { |
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sotDEBUG(5) << *(*it) << endl; |
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(*it)->access(timedata); |
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} |
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return res = (*this)(); |
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} |
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list<SignalTimeDependent<double, int> *> inputsig; |
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list<SignalTimeDependent<dynamicgraph::Vector, int> *> inputsigV; |
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void add(SignalTimeDependent<double, int> &sig) { inputsig.push_back(&sig); } |
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void add(SignalTimeDependent<dynamicgraph::Vector, int> &sig) { |
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inputsigV.push_back(&sig); |
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} |
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Res operator()(void); |
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Res res; |
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int appel; |
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int timedata; |
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}; |
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template <class Res> |
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Res DummyClass<Res>::operator()(void) { |
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return this->res; |
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} |
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template <> |
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double DummyClass<double>::operator()(void) { |
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res = appel * timedata; |
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return res; |
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} |
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template <> |
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dynamicgraph::Vector DummyClass<dynamicgraph::Vector>::operator()(void) { |
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res.resize(3); |
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res.fill(appel * timedata); |
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return res; |
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} |
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template <> |
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VectorUTheta DummyClass<VectorUTheta>::operator()(void) { |
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res.angle() = 0.26; |
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✓✗ |
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res.axis() = Eigen::Vector3d::UnitX(); |
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return res; |
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} |
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// void dispArray( const SignalArray<int> &ar ) |
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// { |
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// for( unsigned int i=0;i<ar.rank;++i ) sotDEBUG(5)<<*ar.array[i]<<endl; |
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// } |
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void funtest(dynamicgraph::Vector & /*v*/) {} |
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#include <vector> |
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int main(void) { |
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✓✗ |
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DummyClass<VectorUTheta> pro3; |
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✓✗✓✗
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SignalTimeDependent<VectorUTheta, int> sig3(sotNOSIGNAL, "Sig3"); |
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✓✗✓✗
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SignalPtr<Eigen::AngleAxisd, int> sigTo3(NULL, "SigTo3"); |
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✓✗ |
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dynamicgraph::Vector v; |
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✓✗ |
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VectorUTheta v3; |
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funtest(v); |
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✓✗✓✗
✓✗✓✗
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sig3.setFunction(boost::bind(&DummyClass<VectorUTheta>::fun, pro3, _1, _2)); |
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try { |
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✓✗ |
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sigTo3.plug(&sig3); |
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} catch (sot::ExceptionAbstract &e) { |
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cout << "Plugin error " << e << endl; |
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exit(1); |
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} |
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✓✗ |
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sig3.access(1); |
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sig3.setReady(); |
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✓✗ |
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sigTo3.access(2); |
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✓✗✓✗
✓✗ |
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cout << sigTo3.access(2); |
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return 0; |
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} |