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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/upsampler.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(Upsampler, "Upsampler"); |
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/* --------------------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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Upsampler::Upsampler( const std::string & name ) |
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:Entity(name) |
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,upsampling_factor_(1) |
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,is_initialized_(false) |
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✓✗✓✗ |
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,data_inputSIN(NULL,"Upsampler("+name+")::input(vector)::sin") |
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,data_outSOUT( boost::bind(&Upsampler::data_out_callback,this,_1,_2), |
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data_inputSIN, |
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✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ |
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"Upsampler("+name+")::output(vector)::sout" ) |
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{ |
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✓✗✓✗ |
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Entity::signalRegistration(data_inputSIN << data_outSOUT); |
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✓✗ | 6 |
addCommand ( |
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"init", |
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✓✗ | 2 |
dynamicgraph::command::makeCommandVoid1( |
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*this, |
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&Upsampler::init, |
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✓✗✓✗ ✓✗ |
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dynamicgraph::command::docCommandVoid1( |
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"Init the upsampler", |
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"int: upsampling factor (how often to repeat the previous input signal)") |
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) |
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✓✗ | 2 |
); |
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} |
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void Upsampler::init(const int& upsampling_factor) |
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{ |
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upsampling_factor_ = upsampling_factor; |
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} |
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/* --------------------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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dg::Vector& Upsampler::data_out_callback(dg::Vector& out, int time) |
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{ |
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✓✓ | 6 |
if (!is_initialized_) { |
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is_initialized_ = true; |
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first_time_ = time; |
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} |
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✓✓ | 6 |
if ((time - first_time_) % upsampling_factor_ == 0) { |
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// We use the time relative to the first time. |
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✓✗✓✗ |
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last_input_ = data_inputSIN((time - first_time_) / upsampling_factor_); |
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} |
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out = last_input_; |
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return out; |
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✓✗✓✗ |
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} |
| Generated by: GCOVR (Version 4.2) |