selector.h

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/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 * Copyright Projet JRL-Japan, 2007
 *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * File:      Selector.h
 * Project:   SOT
 * Author:    Nicolas Mansard
 *
 * Version control
 * ===============
 *
 *  $Id$
 *
 * Description
 * ============
 *
 *
 * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
 
#ifndef __SOT_Selector_H__
#define __SOT_Selector_H__
 
/* --------------------------------------------------------------------- */
/* --- INCLUDE --------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
/* SOT */
#include <dynamic-graph/entity.h>
#include <dynamic-graph/signal-ptr.h>
#include <dynamic-graph/signal-time-dependent.h>
 
#include <sot/core/matrix-geometry.hh>
 
/* STD */
#include <string>
 
/* --------------------------------------------------------------------- */
/* --- API ------------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
#if defined(WIN32)
#if defined(selector_EXPORTS)
#define Selector_EXPORT __declspec(dllexport)
#else
#define Selector_EXPORT __declspec(dllimport)
#endif
#else
#define Selector_EXPORT
#endif
 
namespace dynamicgraph {
namespace sot {
 
/* --------------------------------------------------------------------- */
/* --- CLASS ----------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
class Selector_EXPORT Selector : public Entity {
 public:
  DYNAMIC_GRAPH_ENTITY_DECL();
 
 protected:
  unsigned int nbSignals;
  unsigned int nbEntries;
 
 public: /* --- CONSTRUCTION --- */
  Selector(const std::string &name);
  virtual ~Selector(void);
 
 public: /* --- SIGNAL --- */
  SignalPtr<unsigned int, int> selectorSIN;
 
  std::vector<std::vector<SignalBase<int> *> > inputsSIN;
  std::vector<SignalBase<int> *> outputsSOUT;
 
 public: /* --- FUNCTIONS --- */
  template <class T>
  static T &computeSelection(const unsigned int &sigNum,
                             std::vector<SignalBase<int> *> &entriesSIN, T &res,
                             const int &time);
 
  template <class T>
  unsigned int createSignal(const std::string &shortname,
                            const int &sigId = -1);
 
  void resetSignals(const unsigned int &nbEntries,
                    const unsigned int &nbSignals);
 
 public: /* --- PARAMS --- */
  void initCommands(void);
  virtual void commandLine(const std::string &cmdLine,
                           std::istringstream &cmdArgs, std::ostream &os);
 
  void create(const std::string &name, const std::string &type,
              const int &sigId);
  std::string getTypeList(void);
  void getTypeList(std::ostream &os);
};
 
}  // namespace sot
}  // namespace dynamicgraph
 
#endif  // #ifndef __SOT_Selector_H__