trace-player.hh

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/*
 * Copyright 2017, Andrea Del Prete, LAAS-CNRS
 *
 */
 
#ifndef __sot_torque_control_trace_player_H__
#define __sot_torque_control_trace_player_H__
 
/* --------------------------------------------------------------------- */
/* --- API ------------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
#if defined(WIN32)
#if defined(__sot_torque_control_trace_player_H__)
#define SOTTRACEPLAYER_EXPORT __declspec(dllexport)
#else
#define SOTTRACEPLAYER_EXPORT __declspec(dllimport)
#endif
#else
#define SOTTRACEPLAYER_EXPORT
#endif
 
/* --------------------------------------------------------------------- */
/* --- INCLUDE --------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
#include <boost/assign.hpp>
#include <map>
#include <pinocchio/fwd.hpp>
#include <vector>
 
/* HELPER */
#include <dynamic-graph/signal-helper.h>
 
#include <sot/core/matrix-geometry.hh>
#include <sot/core/robot-utils.hh>
#include <sot/torque_control/utils/vector-conversions.hh>
 
namespace dynamicgraph {
namespace sot {
namespace torque_control {
 
/* --------------------------------------------------------------------- */
/* --- CLASS ----------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
class SOTTRACEPLAYER_EXPORT TracePlayer : public ::dynamicgraph::Entity {
  typedef TracePlayer EntityClassName;
  DYNAMIC_GRAPH_ENTITY_DECL();
 
 public:
  /* --- CONSTRUCTOR ---- */
  TracePlayer(const std::string& name);
 
  void init(const double& dt);
 
  /* --- SIGNALS --- */
  typedef dynamicgraph::Signal<dynamicgraph::Vector, int> OutputSignalType;
  std::map<std::string, OutputSignalType*> m_outputSignals;
  DECLARE_SIGNAL_OUT(trigger, int);
 
  /* --- COMMANDS --- */
  void addOutputSignal(const std::string& fileName,
                       const std::string& signalName);
  void playNext();
  void rewind();
  void clear();
 
  /* --- ENTITY INHERITANCE --- */
  virtual void display(std::ostream& os) const;
 
  void sendMsg(const std::string& msg, MsgType t = MSG_TYPE_INFO,
               const char* = "", int = 0) {
    logger_.stream(t) << ("[" + name + "] " + msg) << '\n';
  }
 
 protected:
  typedef dynamicgraph::Vector DataType;
  typedef std::list<DataType> DataHistoryType;
  typedef DataHistoryType::const_iterator DataPointerType;
 
  std::map<std::string, DataHistoryType> m_data;
  std::map<std::string, DataPointerType> m_dataPointers;
 
};  // class TraceReader
 
}  // namespace torque_control
}  // namespace sot
}  // namespace dynamicgraph
 
#endif  // #ifndef __sot_torque_control_trace_reader_H__