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| 1 | +/* |
| 2 | + * Copyright 2018, |
| 3 | + * Mirabel Joseph |
| 4 | + * |
| 5 | + * CNRS/AIST |
| 6 | + * |
| 7 | + * This file is part of sot-core. |
| 8 | + * sot-core is free software: you can redistribute it and/or |
| 9 | + * modify it under the terms of the GNU Lesser General Public License |
| 10 | + * as published by the Free Software Foundation, either version 3 of |
| 11 | + * the License, or (at your option) any later version. |
| 12 | + * sot-core is distributed in the hope that it will be |
| 13 | + * useful, but WITHOUT ANY WARRANTY; without even the implied warranty |
| 14 | + * of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
| 15 | + * GNU Lesser General Public License for more details. You should |
| 16 | + * have received a copy of the GNU Lesser General Public License along |
| 17 | + * with sot-core. If not, see <http://www.gnu.org/licenses/>. |
| 18 | + */ |
| 19 | + |
| 20 | +#ifndef SOT_CORE_VARIADICOP_HH |
| 21 | +#define SOT_CORE_VARIADICOP_HH |
| 22 | + |
| 23 | +/* --------------------------------------------------------------------- */ |
| 24 | +/* --- INCLUDE --------------------------------------------------------- */ |
| 25 | +/* --------------------------------------------------------------------- */ |
| 26 | + |
| 27 | +/* Matrix */ |
| 28 | +#include <dynamic-graph/linear-algebra.h> |
| 29 | + |
| 30 | +/* SOT */ |
| 31 | +#include <sot/core/flags.hh> |
| 32 | +#include <dynamic-graph/entity.h> |
| 33 | +#include <sot/core/pool.hh> |
| 34 | +#include <dynamic-graph/all-signals.h> |
| 35 | +#include <sot/core/matrix-geometry.hh> |
| 36 | + |
| 37 | +/* STD */ |
| 38 | +#include <string> |
| 39 | + |
| 40 | +#include <boost/function.hpp> |
| 41 | + |
| 42 | +namespace dynamicgraph { |
| 43 | + namespace sot { |
| 44 | + |
| 45 | + /* --------------------------------------------------------------------- */ |
| 46 | + /* --- CLASS ----------------------------------------------------------- */ |
| 47 | + /* --------------------------------------------------------------------- */ |
| 48 | + |
| 49 | + template< typename Tin, typename Tout, typename Time > |
| 50 | + class VariadicAbstract |
| 51 | + :public Entity |
| 52 | + { |
| 53 | + public: /* --- CONSTRUCTION --- */ |
| 54 | + |
| 55 | + static std::string getTypeInName ( void ); |
| 56 | + static std::string getTypeOutName( void ); |
| 57 | + |
| 58 | + VariadicAbstract( const std::string& name , const std::string& className) |
| 59 | + : Entity(name) |
| 60 | + ,SOUT( className+"("+name+")::output("+getTypeOutName()+")::sout") |
| 61 | + ,baseSigname(className+"("+name+")::input("+getTypeInName()+")::") |
| 62 | + { |
| 63 | + signalRegistration( SOUT ); |
| 64 | + } |
| 65 | + |
| 66 | + virtual ~VariadicAbstract( void ) |
| 67 | + { |
| 68 | + for (std::size_t i = 0; i < signalsIN.size(); ++i) { |
| 69 | + _removeSignal (i); |
| 70 | + delete signalsIN[i]; |
| 71 | + } |
| 72 | + }; |
| 73 | + |
| 74 | + public: /* --- SIGNAL --- */ |
| 75 | + |
| 76 | + SignalTimeDependent<Tout,int> SOUT; |
| 77 | + |
| 78 | + std::size_t addSignal () |
| 79 | + { |
| 80 | + std::ostringstream oss; oss << "sin" << signalsIN.size(); |
| 81 | + return addSignal (oss.str()); |
| 82 | + } |
| 83 | + |
| 84 | + std::size_t addSignal (const std::string& name) |
| 85 | + { |
| 86 | + signal_t* sig = new signal_t (NULL, baseSigname + name); |
| 87 | + try { |
| 88 | + _declareSignal(sig); |
| 89 | + signalsIN.push_back (sig); |
| 90 | + // names.push_back (name); |
| 91 | + return signalsIN.size()-1; |
| 92 | + } catch (const ExceptionAbstract&) { |
| 93 | + delete sig; |
| 94 | + throw; |
| 95 | + } |
| 96 | + } |
| 97 | + |
| 98 | + void removeSignal () |
| 99 | + { |
| 100 | + assert (signalsIN.size()>0); |
| 101 | + _removeSignal (signalsIN().size()-1); |
| 102 | + // names.pop_back(); |
| 103 | + signalsIN.pop_back(); |
| 104 | + } |
| 105 | + |
| 106 | + void setSignalNumber (const int& n) |
| 107 | + { |
| 108 | + assert (n>=0); |
| 109 | + const std::size_t oldSize = signalsIN.size(); |
| 110 | + for (std::size_t i = n; i < oldSize; ++i) |
| 111 | + _removeSignal (i); |
| 112 | + signalsIN.resize(n,NULL); |
| 113 | + // names.resize(n); |
| 114 | + |
| 115 | + for (std::size_t i = oldSize; i < (std::size_t)n; ++i) |
| 116 | + { |
| 117 | + assert (signalsIN[i]==NULL); |
| 118 | + std::ostringstream oss; |
| 119 | + oss << baseSigname << "sin" << i; |
| 120 | + // names[i] = oss.str(); |
| 121 | + // signal_t* s = new signal_t (NULL,names[i]); |
| 122 | + signal_t* s = new signal_t (NULL,oss.str()); |
| 123 | + signalsIN[i] = s; |
| 124 | + _declareSignal (s); |
| 125 | + } |
| 126 | + } |
| 127 | + |
| 128 | + int getSignalNumber () const |
| 129 | + { |
| 130 | + return (int)signalsIN.size(); |
| 131 | + } |
| 132 | + |
| 133 | + protected: |
| 134 | + typedef SignalPtr<Tin,int> signal_t; |
| 135 | + std::vector< signal_t* > signalsIN; |
| 136 | + // Use signal->shortName instead |
| 137 | + // std::vector< std::string > names; |
| 138 | + |
| 139 | + private: |
| 140 | + void _removeSignal (const std::size_t i) |
| 141 | + { |
| 142 | + // signalDeregistration(names[i]); |
| 143 | + signalDeregistration(signalsIN[i]->shortName()); |
| 144 | + SOUT.removeDependency (*signalsIN[i]); |
| 145 | + delete signalsIN[i]; |
| 146 | + } |
| 147 | + void _declareSignal (signal_t* s) |
| 148 | + { |
| 149 | + signalRegistration(*s); |
| 150 | + SOUT.addDependency (*s); |
| 151 | + } |
| 152 | + const std::string baseSigname; |
| 153 | + }; |
| 154 | + |
| 155 | + template< typename Operator > |
| 156 | + class VariadicOp |
| 157 | + :public VariadicAbstract<typename Operator::Tin, typename Operator::Tout, int> |
| 158 | + { |
| 159 | + Operator op; |
| 160 | + typedef typename Operator::Tin Tin; |
| 161 | + typedef typename Operator::Tout Tout; |
| 162 | + typedef VariadicOp<Operator> Self; |
| 163 | + |
| 164 | + public: /* --- CONSTRUCTION --- */ |
| 165 | + typedef VariadicAbstract<Tin,Tout,int> Base; |
| 166 | + |
| 167 | + // static std::string getTypeInName ( void ) { return Operator::nameTypeIn (); } |
| 168 | + // static std::string getTypeOutName( void ) { return Operator::nameTypeOut(); } |
| 169 | + static const std::string CLASS_NAME; |
| 170 | + virtual const std::string& getClassName () const { return CLASS_NAME; } |
| 171 | + std::string getDocString () const { return op.getDocString ();} |
| 172 | + |
| 173 | + VariadicOp( const std::string& name ) |
| 174 | + : Base(name, CLASS_NAME) |
| 175 | + { |
| 176 | + this->SOUT.setFunction (boost::bind(&Self::computeOperation,this,_1,_2)); |
| 177 | + op.initialize(this,this->commandMap); |
| 178 | + } |
| 179 | + |
| 180 | + virtual ~VariadicOp( void ) {}; |
| 181 | + |
| 182 | + protected: |
| 183 | + Tout& computeOperation( Tout& res,int time ) |
| 184 | + { |
| 185 | + std::vector< const Tin* > in (this->signalsIN.size()); |
| 186 | + for (std::size_t i = 0; i < this->signalsIN.size(); ++i) { |
| 187 | + const Tin& x = this->signalsIN[i]->access (time); |
| 188 | + in[i] = &x; |
| 189 | + } |
| 190 | + op(in,res); |
| 191 | + return res; |
| 192 | + } |
| 193 | + }; |
| 194 | + } // namespace sot |
| 195 | +} // namespace dynamicgraph |
| 196 | + |
| 197 | + |
| 198 | +#endif // #ifndef SOT_CORE_VARIADICOP_HH |
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