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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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#ifndef __SOT_TIME_STAMP__HH |
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#define __SOT_TIME_STAMP__HH |
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/* --------------------------------------------------------------------- */ |
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/* --- INCLUDE --------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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/* Matrix */ |
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#include <dynamic-graph/linear-algebra.h> |
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/* Classes standards. */ |
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#ifndef WIN32 |
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#include <sys/time.h> |
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#else /*WIN32*/ |
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#include <sot/core/utils-windows.hh> |
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#endif /*WIN32*/ |
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/* SOT */ |
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#include <dynamic-graph/all-signals.h> |
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#include <dynamic-graph/entity.h> |
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#include <sot/core/debug.hh> |
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/* --------------------------------------------------------------------- */ |
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/* --- API ------------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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#if defined(WIN32) |
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#if defined(time_stamp_EXPORTS) |
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#define TimeStamp_EXPORT __declspec(dllexport) |
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#else |
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#define TimeStamp_EXPORT __declspec(dllimport) |
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#endif |
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#else |
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#define TimeStamp_EXPORT |
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#endif |
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/* --------------------------------------------------------------------- */ |
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/* --- CLASS ----------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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namespace dynamicgraph { |
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namespace sot { |
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class TimeStamp_EXPORT TimeStamp : public dynamicgraph::Entity { |
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public: |
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static const std::string CLASS_NAME; |
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✗ |
virtual const std::string &getClassName(void) const { return CLASS_NAME; } |
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protected: |
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struct timeval val; |
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unsigned int offsetValue; |
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bool offsetSet; |
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public: |
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/* --- CONSTRUCTION --- */ |
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TimeStamp(const std::string &name); |
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public: /* --- DISPLAY --- */ |
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virtual void display(std::ostream &os) const; |
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public: /* --- SIGNALS --- */ |
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/* These signals can be called several time per period, given |
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* each time a different results. Useful for chronos. */ |
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dynamicgraph::Signal<dynamicgraph::Vector, int> timeSOUT; |
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dynamicgraph::Signal<double, int> timeDoubleSOUT; |
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/* These signals can be called several time per period, but give |
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* always the same results different results. Useful for synchro. */ |
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dynamicgraph::SignalTimeDependent<dynamicgraph::Vector, int> timeOnceSOUT; |
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dynamicgraph::SignalTimeDependent<double, int> timeOnceDoubleSOUT; |
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protected: /* --- SIGNAL FUNCTIONS --- */ |
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dynamicgraph::Vector &getTimeStamp(dynamicgraph::Vector &res, |
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const int &time); |
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double &getTimeStampDouble(const dynamicgraph::Vector &vect, double &res); |
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}; |
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} /* namespace sot */ |
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} /* namespace dynamicgraph */ |
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#endif /* #ifndef __SOT_SOT_HH */ |
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