Use typedef sigtime_t for signal time.

Author: florent-lamiraux

include/sot/core/binary-int-to-uint.hh

@@ -51,7 +51,7 @@ class SOTBINARYINTTOUINT_EXPORT BinaryIntToUint : public dynamicgraph::Entity {
   BinaryIntToUint(const std::string &name);
   virtual ~BinaryIntToUint() {}
 
-  virtual unsigned &computeOutput(unsigned &res, int time);
+  virtual unsigned int &computeOutput(unsigned int &res, sigtime_t time);
 
   virtual void display(std::ostream &os) const;
 };

include/sot/core/binary-op.hh

@@ -73,7 +73,7 @@ class BinaryOp : public Entity {
   SignalTimeDependent<Tout, sigtime_t> SOUT;
 
  protected:
-  Tout &computeOperation(Tout &res, int time) {
+  Tout &computeOperation(Tout &res, sigtime_t time) {
     const Tin1 &x1 = SIN1(time);
     const Tin2 &x2 = SIN2(time);
     op(x1, x2, res);

include/sot/core/clamp-workspace.hh

@@ -61,18 +61,18 @@ class SOTCLAMPWORKSPACE_EXPORT ClampWorkspace : public dynamicgraph::Entity {
   ClampWorkspace(const std::string &name);
   virtual ~ClampWorkspace(void) {}
 
-  void update(int time);
+  void update(sigtime_t time);
 
   virtual dynamicgraph::Matrix &computeOutput(dynamicgraph::Matrix &res,
-                                              int time);
+                                              sigtime_t time);
   virtual dynamicgraph::Matrix &computeOutputBar(dynamicgraph::Matrix &res,
-                                                 int time);
-  virtual MatrixHomogeneous &computeRef(MatrixHomogeneous &res, int time);
+                                                 sigtime_t time);
+  virtual MatrixHomogeneous &computeRef(MatrixHomogeneous &res, sigtime_t time);
 
   virtual void display(std::ostream &) const;
 
  private:
-  int timeUpdate;
+  sigtime_t timeUpdate;
 
   dynamicgraph::Matrix alpha;
   dynamicgraph::Matrix alphabar;

include/sot/core/com-freezer.hh

@@ -50,7 +50,7 @@ class SOTCOMFREEZER_EXPORT CoMFreezer : public dynamicgraph::Entity {
  private:
   dynamicgraph::Vector m_lastCoM;
   bool m_previousPGInProcess;
-  int m_lastStopTime;
+  sigtime_t m_lastStopTime;
 
  public: /* --- CONSTRUCTION --- */
   CoMFreezer(const std::string &name);
@@ -63,7 +63,7 @@ class SOTCOMFREEZER_EXPORT CoMFreezer : public dynamicgraph::Entity {
 
  public: /* --- FUNCTION --- */
   dynamicgraph::Vector &computeFreezedCoM(dynamicgraph::Vector &freezedCoM,
-                                          const int &time);
+                                          const sigtime_t &time);
 
  public: /* --- PARAMS --- */
   virtual void display(std::ostream &os) const;

include/sot/core/control-gr.hh

@@ -73,7 +73,7 @@ class ControlGR_EXPORT ControlGR : public Entity {
 
  protected:
   double &setsize(int dimension);
-  dynamicgraph::Vector &computeControl(dynamicgraph::Vector &tau, int t);
+  dynamicgraph::Vector &computeControl(dynamicgraph::Vector &tau, sigtime_t t);
 };
 
 }  // namespace sot

include/sot/core/control-pd.hh

@@ -76,13 +76,13 @@ class ControlPD_EXPORT ControlPD : public Entity {
   SignalTimeDependent<dynamicgraph::Vector, sigtime_t> velocityErrorSOUT;
 
  protected:
-  dynamicgraph::Vector &computeControl(dynamicgraph::Vector &tau, int t);
+  dynamicgraph::Vector &computeControl(dynamicgraph::Vector &tau, sigtime_t t);
   dynamicgraph::Vector position_error_;
   dynamicgraph::Vector velocity_error_;
   dynamicgraph::Vector &getPositionError(dynamicgraph::Vector &position_error,
-                                         int t);
+                                         sigtime_t t);
   dynamicgraph::Vector &getVelocityError(dynamicgraph::Vector &velocity_error,
-                                         int t);
+                                         sigtime_t t);
 };
 
 }  // namespace sot

include/sot/core/derivator.hh

@@ -73,7 +73,7 @@ class Derivator : public dynamicgraph::Entity {
   dynamicgraph::Signal<double, sigtime_t> timestepSIN;
 
  protected:
-  T &computeDerivation(T &res, int time) {
+  T &computeDerivation(T &res, sigtime_t time) {
     if (initialized) {
       res = memory;
       res *= -1;
@@ -92,7 +92,7 @@ class Derivator : public dynamicgraph::Entity {
 // TODO Derivation of unit quaternion?
 template <>
 VectorQuaternion &Derivator<VectorQuaternion>::computeDerivation(
-    VectorQuaternion &res, int time) {
+    VectorQuaternion &res, sigtime_t time) {
   if (initialized) {
     res = memory;
     res.coeffs() *= -1;

include/sot/core/exp-moving-avg.hh

@@ -45,7 +45,8 @@ class SOT_CORE_DLLAPI ExpMovingAvg : public Entity {
   void setAlpha(const double &alpha_);
 
  protected:
-  dynamicgraph::Vector &update(dynamicgraph::Vector &res, const int &inTime);
+  dynamicgraph::Vector &update(dynamicgraph::Vector &res,
+                               const sigtime_t &inTime);
 
   dynamicgraph::Vector average;
 

include/sot/core/fir-filter.hh

@@ -155,13 +155,13 @@ class FIRFilter : public Entity {
         "\n"
         "    Return:\n"
         "      - positive int: size\n";
-    addCommand("getSize", new Getter<FIRFilter, unsigned>(
+    addCommand("getSize", new Getter<FIRFilter, std::size_t>(
                               *this, &FIRFilter::getBufferSize, docstring));
   }
 
   virtual ~FIRFilter() {}
 
-  virtual sigT &compute(sigT &res, int time) {
+  virtual sigT &compute(sigT &res, sigtime_t time) {
     const sigT &in = SIN.access(time);
     reset_signal(res, in);
     data.push_front(in);

include/sot/core/gain-adaptive.hh

@@ -120,7 +120,7 @@ class SOTGAINADAPTATIVE_EXPORT GainAdaptive : public dynamicgraph::Entity {
   dynamicgraph::SignalTimeDependent<double, sigtime_t> gainSOUT;
 
  protected:
-  double &computeGain(double &res, int t);
+  double &computeGain(double &res, sigtime_t t);
 
  private:
   void addCommands();