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florent-lamirauxflorent-lamiraux
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Use typedef sigtime_t for signal time.
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-585
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94 files changed

+426
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‎include/sot/core/binary-int-to-uint.hh

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -44,8 +44,8 @@ class SOTBINARYINTTOUINT_EXPORT BinaryIntToUint : public dynamicgraph::Entity {
4444

4545
/* --- SIGNALS ------------------------------------------------------------ */
4646
public:
47-
dynamicgraph::SignalPtr<int, int> binaryIntSIN;
48-
dynamicgraph::SignalTimeDependent<unsigned, int> binaryUintSOUT;
47+
dynamicgraph::SignalPtr<int, sigtime_t> binaryIntSIN;
48+
dynamicgraph::SignalTimeDependent<unsigned, sigtime_t> binaryUintSOUT;
4949

5050
public:
5151
BinaryIntToUint(const std::string &name);

‎include/sot/core/binary-op.hh

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -68,9 +68,9 @@ class BinaryOp : public Entity {
6868
virtual ~BinaryOp(void){};
6969

7070
public: /* --- SIGNAL --- */
71-
SignalPtr<Tin1, int> SIN1;
72-
SignalPtr<Tin2, int> SIN2;
73-
SignalTimeDependent<Tout, int> SOUT;
71+
SignalPtr<Tin1, sigtime_t> SIN1;
72+
SignalPtr<Tin2, sigtime_t> SIN2;
73+
SignalTimeDependent<Tout, sigtime_t> SOUT;
7474

7575
protected:
7676
Tout &computeOperation(Tout &res, int time) {

‎include/sot/core/clamp-workspace.hh

Lines changed: 5 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -51,11 +51,11 @@ class SOTCLAMPWORKSPACE_EXPORT ClampWorkspace : public dynamicgraph::Entity {
5151

5252
/* --- SIGNALS ------------------------------------------------------------ */
5353
public:
54-
dynamicgraph::SignalPtr<MatrixHomogeneous, int> positionrefSIN;
55-
dynamicgraph::SignalPtr<MatrixHomogeneous, int> positionSIN;
56-
dynamicgraph::SignalTimeDependent<dynamicgraph::Matrix, int> alphaSOUT;
57-
dynamicgraph::SignalTimeDependent<dynamicgraph::Matrix, int> alphabarSOUT;
58-
dynamicgraph::SignalTimeDependent<MatrixHomogeneous, int> handrefSOUT;
54+
dynamicgraph::SignalPtr<MatrixHomogeneous, sigtime_t> positionrefSIN;
55+
dynamicgraph::SignalPtr<MatrixHomogeneous, sigtime_t> positionSIN;
56+
dynamicgraph::SignalTimeDependent<dynamicgraph::Matrix, sigtime_t> alphaSOUT;
57+
dynamicgraph::SignalTimeDependent<dynamicgraph::Matrix, sigtime_t> alphabarSOUT;
58+
dynamicgraph::SignalTimeDependent<MatrixHomogeneous, sigtime_t> handrefSOUT;
5959

6060
public:
6161
ClampWorkspace(const std::string &name);

‎include/sot/core/com-freezer.hh

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -57,9 +57,9 @@ class SOTCOMFREEZER_EXPORT CoMFreezer : public dynamicgraph::Entity {
5757
virtual ~CoMFreezer(void);
5858

5959
public: /* --- SIGNAL --- */
60-
dynamicgraph::SignalPtr<dynamicgraph::Vector, int> CoMRefSIN;
61-
dynamicgraph::SignalPtr<unsigned, int> PGInProcessSIN;
62-
dynamicgraph::SignalTimeDependent<dynamicgraph::Vector, int> freezedCoMSOUT;
60+
dynamicgraph::SignalPtr<dynamicgraph::Vector, sigtime_t> CoMRefSIN;
61+
dynamicgraph::SignalPtr<unsigned, sigtime_t> PGInProcessSIN;
62+
dynamicgraph::SignalTimeDependent<dynamicgraph::Vector, sigtime_t> freezedCoMSOUT;
6363

6464
public: /* --- FUNCTION --- */
6565
dynamicgraph::Vector &computeFreezedCoM(dynamicgraph::Vector &freezedCoM,

‎include/sot/core/control-gr.hh

Lines changed: 4 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -66,10 +66,10 @@ class ControlGR_EXPORT ControlGR : public Entity {
6666
double _dimension;
6767

6868
public: /* --- SIGNALS --- */
69-
SignalPtr<dynamicgraph::Matrix, int> matrixASIN;
70-
SignalPtr<dynamicgraph::Vector, int> accelerationSIN;
71-
SignalPtr<dynamicgraph::Vector, int> gravitySIN;
72-
SignalTimeDependent<dynamicgraph::Vector, int> controlSOUT;
69+
SignalPtr<dynamicgraph::Matrix, sigtime_t> matrixASIN;
70+
SignalPtr<dynamicgraph::Vector, sigtime_t> accelerationSIN;
71+
SignalPtr<dynamicgraph::Vector, sigtime_t> gravitySIN;
72+
SignalTimeDependent<dynamicgraph::Vector, sigtime_t> controlSOUT;
7373

7474
protected:
7575
double &setsize(int dimension);

‎include/sot/core/control-pd.hh

Lines changed: 9 additions & 9 deletions
Original file line numberDiff line numberDiff line change
@@ -65,15 +65,15 @@ class ControlPD_EXPORT ControlPD : public Entity {
6565
double TimeStep;
6666

6767
public: /* --- SIGNALS --- */
68-
SignalPtr<dynamicgraph::Vector, int> KpSIN;
69-
SignalPtr<dynamicgraph::Vector, int> KdSIN;
70-
SignalPtr<dynamicgraph::Vector, int> positionSIN;
71-
SignalPtr<dynamicgraph::Vector, int> desiredpositionSIN;
72-
SignalPtr<dynamicgraph::Vector, int> velocitySIN;
73-
SignalPtr<dynamicgraph::Vector, int> desiredvelocitySIN;
74-
SignalTimeDependent<dynamicgraph::Vector, int> controlSOUT;
75-
SignalTimeDependent<dynamicgraph::Vector, int> positionErrorSOUT;
76-
SignalTimeDependent<dynamicgraph::Vector, int> velocityErrorSOUT;
68+
SignalPtr<dynamicgraph::Vector, sigtime_t> KpSIN;
69+
SignalPtr<dynamicgraph::Vector, sigtime_t> KdSIN;
70+
SignalPtr<dynamicgraph::Vector, sigtime_t> positionSIN;
71+
SignalPtr<dynamicgraph::Vector, sigtime_t> desiredpositionSIN;
72+
SignalPtr<dynamicgraph::Vector, sigtime_t> velocitySIN;
73+
SignalPtr<dynamicgraph::Vector, sigtime_t> desiredvelocitySIN;
74+
SignalTimeDependent<dynamicgraph::Vector, sigtime_t> controlSOUT;
75+
SignalTimeDependent<dynamicgraph::Vector, sigtime_t> positionErrorSOUT;
76+
SignalTimeDependent<dynamicgraph::Vector, sigtime_t> velocityErrorSOUT;
7777

7878
protected:
7979
dynamicgraph::Vector &computeControl(dynamicgraph::Vector &tau, int t);

‎include/sot/core/derivator.hh

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -68,9 +68,9 @@ class Derivator : public dynamicgraph::Entity {
6868
virtual ~Derivator(void){};
6969

7070
public: /* --- SIGNAL --- */
71-
dynamicgraph::SignalPtr<T, int> SIN;
72-
dynamicgraph::SignalTimeDependent<T, int> SOUT;
73-
dynamicgraph::Signal<double, int> timestepSIN;
71+
dynamicgraph::SignalPtr<T, sigtime_t> SIN;
72+
dynamicgraph::SignalTimeDependent<T, sigtime_t> SOUT;
73+
dynamicgraph::Signal<double, sigtime_t> timestepSIN;
7474

7575
protected:
7676
T &computeDerivation(T &res, int time) {

‎include/sot/core/device.hh

Lines changed: 14 additions & 14 deletions
Original file line numberDiff line numberDiff line change
@@ -112,20 +112,20 @@ class SOT_CORE_EXPORT Device : public Entity {
112112
}
113113

114114
public: /* --- SIGNALS --- */
115-
dynamicgraph::SignalPtr<dynamicgraph::Vector, int> controlSIN;
116-
dynamicgraph::SignalPtr<dynamicgraph::Vector, int> attitudeSIN;
117-
dynamicgraph::SignalPtr<dynamicgraph::Vector, int> zmpSIN;
115+
dynamicgraph::SignalPtr<dynamicgraph::Vector, sigtime_t> controlSIN;
116+
dynamicgraph::SignalPtr<dynamicgraph::Vector, sigtime_t> attitudeSIN;
117+
dynamicgraph::SignalPtr<dynamicgraph::Vector, sigtime_t> zmpSIN;
118118

119119
/// \name Device current state.
120120
/// \{
121-
dynamicgraph::Signal<dynamicgraph::Vector, int> stateSOUT;
122-
dynamicgraph::Signal<dynamicgraph::Vector, int> velocitySOUT;
123-
dynamicgraph::Signal<MatrixRotation, int> attitudeSOUT;
121+
dynamicgraph::Signal<dynamicgraph::Vector, sigtime_t> stateSOUT;
122+
dynamicgraph::Signal<dynamicgraph::Vector, sigtime_t> velocitySOUT;
123+
dynamicgraph::Signal<MatrixRotation, sigtime_t> attitudeSOUT;
124124
/*! \brief The current state of the robot from the command viewpoint. */
125-
dynamicgraph::Signal<dynamicgraph::Vector, int> motorcontrolSOUT;
126-
dynamicgraph::Signal<dynamicgraph::Vector, int> previousControlSOUT;
125+
dynamicgraph::Signal<dynamicgraph::Vector, sigtime_t> motorcontrolSOUT;
126+
dynamicgraph::Signal<dynamicgraph::Vector, sigtime_t> previousControlSOUT;
127127
/*! \brief The ZMP reference send by the previous controller. */
128-
dynamicgraph::Signal<dynamicgraph::Vector, int> ZMPPreviousControllerSOUT;
128+
dynamicgraph::Signal<dynamicgraph::Vector, sigtime_t> ZMPPreviousControllerSOUT;
129129
/// \}
130130

131131
/// \name Real robot current state
@@ -134,14 +134,14 @@ class SOT_CORE_EXPORT Device : public Entity {
134134
/// does *not* match the state control input signal.
135135
/// \{
136136
/// Motor positions
137-
dynamicgraph::Signal<dynamicgraph::Vector, int> robotState_;
137+
dynamicgraph::Signal<dynamicgraph::Vector, sigtime_t> robotState_;
138138
/// Motor velocities
139-
dynamicgraph::Signal<dynamicgraph::Vector, int> robotVelocity_;
139+
dynamicgraph::Signal<dynamicgraph::Vector, sigtime_t> robotVelocity_;
140140
/// The force torque sensors
141-
dynamicgraph::Signal<dynamicgraph::Vector, int> *forcesSOUT[4];
141+
dynamicgraph::Signal<dynamicgraph::Vector, sigtime_t> *forcesSOUT[4];
142142
/// Motor torques
143143
/// \todo why pseudo ?
144-
dynamicgraph::Signal<dynamicgraph::Vector, int> pseudoTorqueSOUT;
144+
dynamicgraph::Signal<dynamicgraph::Vector, sigtime_t> pseudoTorqueSOUT;
145145
/// \}
146146

147147
public:
@@ -150,7 +150,7 @@ class SOT_CORE_EXPORT Device : public Entity {
150150
virtual void setRoot(const MatrixHomogeneous &worldMwaist);
151151

152152
private:
153-
int lastTimeControlWasRead_;
153+
sigtime_t lastTimeControlWasRead_;
154154
int controlSize_;
155155
// Intermediate variable to avoid dynamic allocation
156156
dynamicgraph::Vector forceZero6;

‎include/sot/core/double-constant.hh

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -24,7 +24,7 @@ class DoubleConstant : public Entity {
2424

2525
virtual ~DoubleConstant(void) {}
2626

27-
SignalTimeDependent<double, int> SOUT;
27+
SignalTimeDependent<double, sigtime_t> SOUT;
2828

2929
/// \brief Set value of vector (and therefore of output signal)
3030
void setValue(const double &inValue);

‎include/sot/core/event.hh

Lines changed: 8 additions & 8 deletions
Original file line numberDiff line numberDiff line change
@@ -73,8 +73,8 @@ class SOT_CORE_DLLAPI Event : public dynamicgraph::Entity {
7373
" Repease event if input signal remains True for a while\n"
7474
" Input: number of iterations before repeating output\n."
7575
" 0 for no repetition";
76-
addCommand("repeat", new command::Setter<Event, int>(*this, &Event::repeat,
77-
docstring));
76+
addCommand("repeat", new command::Setter<Event, sigtime_t>
77+
(*this, &Event::repeat, docstring));
7878
}
7979

8080
~Event() {}
@@ -102,23 +102,23 @@ class SOT_CORE_DLLAPI Event : public dynamicgraph::Entity {
102102
return oss.str();
103103
}
104104

105-
void repeat(const int &nbIterations) {
105+
void repeat(const sigtime_t &nbIterations) {
106106
repeatAfterNIterations_ = nbIterations;
107107
}
108108

109109
private:
110-
typedef SignalBase<int> *Trigger_t;
110+
typedef SignalBase<sigtime_t> *Trigger_t;
111111
typedef std::vector<Trigger_t> Triggers_t;
112112

113-
bool &check(bool &ret, const int &time);
113+
bool &check(bool &ret, const int64_t &time);
114114

115-
Signal<bool, int> checkSOUT;
115+
Signal<bool, sigtime_t> checkSOUT;
116116

117117
Triggers_t triggers;
118-
SignalPtr<bool, int> conditionSIN;
118+
SignalPtr<bool, sigtime_t> conditionSIN;
119119

120120
bool lastVal_;
121-
int timeSinceUp_, repeatAfterNIterations_;
121+
sigtime_t timeSinceUp_, repeatAfterNIterations_;
122122
};
123123
} // namespace sot
124124
} // namespace dynamicgraph

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