reader.hh

Go to the documentation of this file.

/*
 * Copyright 2010,
 * François Bleibel,
 * Olivier Stasse,
 *
 * CNRS/AIST
 *
 */
 
#ifndef __SOT_TRACER_H__
#define __SOT_TRACER_H__
 
/* --------------------------------------------------------------------- */
/* --- INCLUDE --------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
/* Matrix */
#include <dynamic-graph/linear-algebra.h>
 
/* STD */
#include <boost/function.hpp>
#include <fstream>
#include <list>
#include <string>
#include <vector>
 
/* SOT & DG*/
#include <dynamic-graph/entity.h>
#include <dynamic-graph/exception-traces.h>
#include <dynamic-graph/signal-base.h>
#include <dynamic-graph/signal-ptr.h>
#include <dynamic-graph/signal-time-dependent.h>
 
#include <sot/core/flags.hh>
 
/* --------------------------------------------------------------------- */
/* --- API ------------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
#if defined(WIN32)
#if defined(reader_EXPORTS)
#define SOTREADER_EXPORT __declspec(dllexport)
#else
#define SOTREADER_EXPORT __declspec(dllimport)
#endif
#else
#define SOTREADER_EXPORT
#endif
 
/* --------------------------------------------------------------------- */
/* --- TRACER ---------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
using dynamicgraph::Entity;
using dynamicgraph::SignalPtr;
using dynamicgraph::SignalTimeDependent;
using dynamicgraph::sot::Flags;
 
class SOTREADER_EXPORT sotReader : public Entity {
  DYNAMIC_GRAPH_ENTITY_DECL();
 
 public:
  SignalPtr<Flags, int> selectionSIN;
  SignalTimeDependent<dynamicgraph::Vector, int> vectorSOUT;
  SignalTimeDependent<dynamicgraph::Matrix, int> matrixSOUT;
 
 public:
  sotReader(const std::string n);
  virtual ~sotReader(void) {}
 
  void load(const std::string &filename);
  void clear(void);
  void rewind(void);
 
 protected:
  typedef std::list<std::vector<double> > DataType;
  DataType dataSet;
  DataType::const_iterator currentData;
  bool iteratorSet;
 
  int rows, cols;
 
  dynamicgraph::Vector &getNextData(dynamicgraph::Vector &res,
                                    const unsigned int time);
  dynamicgraph::Matrix &getNextMatrix(dynamicgraph::Matrix &res,
                                      const unsigned int time);
  void resize(const int &nbRow, const int &nbCol);
 
 public:
  /* --- PARAMS --- */
  void display(std::ostream &os) const;
  virtual void initCommands();
};
 
#endif /* #ifndef __SOT_TRACER_H__ */