Add entity IntegratorEulerVectorDouble

Author: jmirabel

include/sot/core/integrator-euler-impl.hh

@@ -58,6 +58,7 @@
 namespace dynamicgraph { 
   namespace sot {
 	DECLARE_SPECIFICATION(IntegratorEulerVectorMatrix,dg::Vector,dg::Matrix)
+	DECLARE_SPECIFICATION(IntegratorEulerVectorDouble,dg::Vector,double)
   }
 }
 

include/sot/core/integrator-euler.hh

@@ -119,7 +119,7 @@ public:
     // End of step 1. Here, sum is b_0 X
 
     // Step 2
-    int numsize = num.size();
+    int numsize = (int)num.size();
     for(int i = 1; i < numsize; ++i)
     {
       tmp2 = inputMemory[i-1] - tmp1;
@@ -131,7 +131,7 @@ public:
     // End of step 2. Here, sum is b_m * d(m)X / dt^m + ... - b_0 X
 
     // Step 3
-    int denomsize = denom.size() - 1;
+    int denomsize = (int)denom.size() - 1;
     for(int i = 0; i < denomsize; ++i)
     {
       sum -= (denom[i] * outputMemory[i]);
@@ -161,6 +161,7 @@ public:
 
     SOUT.recompute(time);
     res = outputMemory[1];
+    return res;
   }
 
   void setSamplingPeriod (const double& period)

src/matrix/integrator-euler.cpp

@@ -28,6 +28,10 @@
 #ifdef WIN32
   IntegratorEulerVectorMatrix::IntegratorEulerVectorMatrix( const std::string& name ) : 
 	IntegratorEuler<Vector,Matrix>(name) {}
-  std::string IntegratorEulerVectorMatrix::getTypeName( void ) { return "double"; }
+  std::string IntegratorEulerVectorMatrix::getTypeName( void ) { return "IntegratorEulerVectorMatrix"; }
+
+  IntegratorEulerVectorDouble::IntegratorEulerVectorDouble( const std::string& name ) : 
+	IntegratorEuler<Vector,double>(name) {}
+  std::string IntegratorEulerVectorDouble::getTypeName( void ) { return "IntegratorEulerVectorDouble"; }
 #endif // WIN32
 

src/matrix/integrator-euler.t.cpp

@@ -34,19 +34,21 @@ using namespace dynamicgraph;
   const std::string& sotClassType<sotSigType,sotCoefType>::                                 \
   getClassName( void ) const { return CLASS_NAME; }                                         \
   extern "C" {                                                                              \
-    Entity *regFunction##_##sotSigType( const std::string& objname )                        \
+    Entity *regFunction##_##sotSigType##_##sotCoefType( const std::string& objname )        \
     {                                                                                       \
       return new sotClassType<sotSigType,sotCoefType>( objname );                           \
     }                                                                                       \
     EntityRegisterer                                                                        \
-    regObj##_##sotSigType(sotClassType<sotSigType,sotCoefType>::CLASS_NAME,                 \
-                          &regFunction##_##sotSigType );                                    \
+    regObj##_##sotSigType##_##sotCoefType(sotClassType<sotSigType,sotCoefType>::CLASS_NAME, \
+                          &regFunction##_##sotSigType##_##sotCoefType );                    \
   }
 
 using namespace std;
 namespace dynamicgraph { 
   namespace sot {
     SOT_FACTORY_TEMPLATE_ENTITY_PLUGIN_EULER(IntegratorEuler,Vector,Matrix,
 				       "IntegratorEulerVectorMatrix")
+    SOT_FACTORY_TEMPLATE_ENTITY_PLUGIN_EULER(IntegratorEuler,Vector,double,
+				       "IntegratorEulerVectorDouble")
   } // namespace sot
 } // namespace dynamicgraph