step-time-line.h

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/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 * Copyright Projet JRL-Japan, 2007
 *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * File:      StepTimeLine.h
 * Project:   SOT
 * Author:    Nicolas Mansard, Olivier Stasse, Paul Evrard
 *
 * Version control
 * ===============
 *
 *  $Id$
 *
 * Description
 * ============
 *
 * StepTimeLine entity: synchronizes a StepQueue, a StepComputer and a
 * PGManager to compute steps to send to the PG. Uses a StepChecker
 * to clip the steps.
 * Highest-level class for automatic step generation.
 *
 * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
 
#ifndef __SOT_STEP_TIME_LINE_H__
#define __SOT_STEP_TIME_LINE_H__
 
/* --------------------------------------------------------------------- */
/* --- INCLUDE --------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
#include <pinocchio/fwd.hpp>
 
/* SOT */
#include <dynamic-graph/entity.h>
#include <dynamic-graph/signal-ptr.h>
#include <dynamic-graph/signal-time-dependent.h>
#include <sot/pattern-generator/pg-manager.h>
#include <sot/pattern-generator/step-computer.h>
#include <sot/pattern-generator/step-queue.h>
 
/* --------------------------------------------------------------------- */
/* --- API ------------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
#if defined(WIN32)
#if defined(step_time_line_EXPORTS)
#define StepTimeLine_EXPORT __declspec(dllexport)
#else
#define StepTimeLine_EXPORT __declspec(dllimport)
#endif
#else
#define StepTimeLine_EXPORT
#endif
 
namespace dynamicgraph {
namespace sot {
 
/* --------------------------------------------------------------------- */
/* --- CLASS ----------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
class StepTimeLine_EXPORT StepTimeLine : public Entity {
 public:  // Entity name
  static const std::string CLASS_NAME;
  virtual const std::string &getClassName(void) const { return CLASS_NAME; }
 
 private:
  static const unsigned int PERIOD_DEFAULT;
 
  static const unsigned int FIRST_STEP_TO_MODIFY;
 
 public:  // Construction
  StepTimeLine(const std::string &name);
 
 public:  // Trigger
  Signal<int, int> triggerSOUT;
 
  int &triggerCall(int &dummy, int timeCurr);
 
 private:  // State
  enum SteppingState {
    STATE_STARTING,  
    STATE_STOPPING,  
    STATE_STARTED,   
    STATE_STOPPED    
  };
 
 public:  // Entity
  virtual void display(std::ostream &os) const;
  virtual void commandLine(const std::string &cmdLine,
                           std::istringstream &cmdArgs, std::ostream &os);
 
 private:
  StepQueue *stepQueue;
  StepComputer *stepComputer;
  PGManager *pgManager;
 
  SteppingState state;
  int timeLastIntroduction;
  int period;
  unsigned int nStartingSteps;
};
 
}  // namespace sot
}  // namespace dynamicgraph
 
#endif