unary-op.hh

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/*
 * Copyright 2010,
 * François Bleibel,
 * Olivier Stasse,
 *
 * CNRS/AIST
 *
 */
 
#ifndef SOT_CORE_UNARYOP_HH
#define SOT_CORE_UNARYOP_HH
 
/* --------------------------------------------------------------------- */
/* --- INCLUDE --------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
/* SOT */
#include <dynamic-graph/all-signals.h>
#include <dynamic-graph/entity.h>
 
/* --------------------------------------------------------------------- */
/* --- CLASS ----------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
namespace dynamicgraph {
namespace sot {
 
template <typename Operator>
class UnaryOp : public Entity {
  Operator op;
  typedef typename Operator::Tin Tin;
  typedef typename Operator::Tout Tout;
  typedef UnaryOp<Operator> Self;
 
 public: /* --- CONSTRUCTION --- */
  static std::string getTypeInName(void) { return Operator::nameTypeIn(); }
  static std::string getTypeOutName(void) { return Operator::nameTypeOut(); }
  static const std::string CLASS_NAME;
 
  virtual const std::string &getClassName() const { return CLASS_NAME; }
 
  std::string getDocString() const { return op.getDocString(); }
 
  UnaryOp(const std::string &name)
      : Entity(name),
        SIN(NULL, Self::CLASS_NAME + "(" + name + ")::input(" +
                      Self::getTypeInName() + ")::sin"),
        SOUT(boost::bind(&Self::computeOperation, this, _1, _2), SIN,
             Self::CLASS_NAME + "(" + name + ")::output(" +
                 Self::getTypeOutName() + ")::sout") {
    signalRegistration(SIN << SOUT);
    op.addSpecificCommands(*this, commandMap);
  }
 
  virtual ~UnaryOp(void){};
 
 public: /* --- SIGNAL --- */
  SignalPtr<Tin, int> SIN;
  SignalTimeDependent<Tout, int> SOUT;
 
 protected:
  Tout &computeOperation(Tout &res, int time) {
    const Tin &x1 = SIN(time);
    op(x1, res);
    return res;
  }
 
 public: /* --- PARAMS --- */
};
} /* namespace sot */
} /* namespace dynamicgraph */
 
#endif  // #ifndef SOT_CORE_UNARYOP_HH