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/** |
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* Copyright 2019 Max Planck Society. All rights reserved. |
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* Julian Viereck |
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*/ |
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#include "dg_tools/data/previous_value.hpp" |
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/* --------------------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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#include <sot/core/debug.hh> |
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#include <dynamic-graph/factory.h> |
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#include <dynamic-graph/all-commands.h> |
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using namespace dg_tools; |
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✓✗✓✗ ✓✗✓✗ |
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DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(PreviousValue, "PreviousValue"); |
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/* --------------------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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PreviousValue::PreviousValue( const std::string & name ) |
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:Entity(name) |
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,size_(0) |
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,is_initialized_(false) |
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✓✗✓✗ |
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,dataSIN(NULL,"PreviousValue("+name+")::input(vector)::sin") |
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,dataSOUT( boost::bind(&PreviousValue::getInput,this,_1,_2), |
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dataSIN, |
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✓✗✓✗ |
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"PreviousValue("+name+")::output(vector)::sout" ) |
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,previousSOUT( boost::bind(&PreviousValue::getPrevious,this,_1,_2), |
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dataSIN, |
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✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ |
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"PreviousValue("+name+")::output(vector)::sprev" ) |
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{ |
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✓✗✓✗ ✓✗ |
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Entity::signalRegistration(dataSIN << dataSOUT << previousSOUT); |
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✓✗ | 3 |
addCommand ( |
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"init", |
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✓✗ | 1 |
dynamicgraph::command::makeCommandVoid1( |
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*this, |
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&PreviousValue::init, |
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✓✗✓✗ ✓✗ |
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dynamicgraph::command::docCommandVoid1( |
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"Init the entity", |
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"int: Dimension of the stored value.") |
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) |
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✓✗ | 1 |
); |
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} |
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void PreviousValue::init(const int& size) |
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{ |
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internal_history_.resize(size); |
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✓✗ | 1 |
internal_history_.fill(0.); |
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} |
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/* --------------------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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void PreviousValue::display( std::ostream& os ) const |
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{ |
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os << "PreviousValue " << getName(); |
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os <<" (" << internal_history_.size() << ") "; |
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} |
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dg::Vector& PreviousValue::getInput(dg::Vector& output, int time) |
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{ |
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output = dataSIN(time); |
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✗✓ | 1 |
assert(output.size() == internal_history_.size()); |
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internal_history_ = output; |
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return output; |
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} |
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dg::Vector& PreviousValue::getPrevious(dg::Vector& previous, int time) |
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{ |
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previous = internal_history_; |
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return internal_history_; |
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✓✗✓✗ |
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} |
| Generated by: GCOVR (Version 4.2) |