Use long int for signal time and simplify SignalPtr

CMakeLists.txt

@@ -100,9 +100,6 @@ set(${PROJECT_NAME}_HEADERS
     include/${CUSTOM_HEADER_DIR}/latch.hh
     include/${CUSTOM_HEADER_DIR}/macros.hh
     include/${CUSTOM_HEADER_DIR}/macros-signal.hh
-    include/${CUSTOM_HEADER_DIR}/mailbox-vector.hh
-    include/${CUSTOM_HEADER_DIR}/mailbox.hh
-    include/${CUSTOM_HEADER_DIR}/mailbox.hxx
     include/${CUSTOM_HEADER_DIR}/matrix-constant.hh
     include/${CUSTOM_HEADER_DIR}/matrix-geometry.hh
     include/${CUSTOM_HEADER_DIR}/matrix-svd.hh
@@ -135,7 +132,6 @@ set(${PROJECT_NAME}_HEADERS
     include/${CUSTOM_HEADER_DIR}/utils-windows.hh
     include/${CUSTOM_HEADER_DIR}/variadic-op.hh
     include/${CUSTOM_HEADER_DIR}/vector-constant.hh
-    include/${CUSTOM_HEADER_DIR}/vector-to-rotation.hh
     include/${CUSTOM_HEADER_DIR}/visual-point-projecter.hh)
 
 set(${PROJECT_NAME}_SOURCES

include/sot/core/abstract-sot-external-interface.hh

@@ -11,6 +11,7 @@
 
 #include <map>
 #include <sot/core/api.hh>
+#include <sot/core/fwd.hh>
 #include <string>
 #include <vector>
 
@@ -61,7 +62,7 @@ class SOT_CORE_EXPORT AbstractSotExternalInterface {
   virtual void setSecondOrderIntegration(void) = 0;
   virtual void setNoIntegration(void) = 0;
   // Set the number of joints that are controlled
-  virtual void setControlSize(const int &) = 0;
+  virtual void setControlSize(const size_type &) = 0;
 };
 }  // namespace sot
 }  // namespace dynamicgraph

include/sot/core/admittance-control-op-point.hh

@@ -108,7 +108,7 @@ class ADMITTANCECONTROLOPPOINT_EXPORT AdmittanceControlOpPoint
 
  protected:
   /// Dimension of the force signals and of the output
-  int m_n;
+  size_type m_n;
   /// True if the entity has been successfully initialized
   bool m_initSucceeded;
   /// Internal state

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

@@ -44,14 +44,14 @@ class SOTBINARYINTTOUINT_EXPORT BinaryIntToUint : public dynamicgraph::Entity {
 
   /* --- SIGNALS ------------------------------------------------------------ */
  public:
-  dynamicgraph::SignalPtr<int, int> binaryIntSIN;
-  dynamicgraph::SignalTimeDependent<unsigned, int> binaryUintSOUT;
+  dynamicgraph::SignalPtr<int, sigtime_t> binaryIntSIN;
+  dynamicgraph::SignalTimeDependent<unsigned, sigtime_t> binaryUintSOUT;
 
  public:
   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

@@ -68,12 +68,12 @@ class BinaryOp : public Entity {
   virtual ~BinaryOp(void){};
 
  public: /* --- SIGNAL --- */
-  SignalPtr<Tin1, int> SIN1;
-  SignalPtr<Tin2, int> SIN2;
-  SignalTimeDependent<Tout, int> SOUT;
+  SignalPtr<Tin1, sigtime_t> SIN1;
+  SignalPtr<Tin2, sigtime_t> SIN2;
+  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/causal-filter.hh

@@ -19,7 +19,7 @@
 /* --------------------------------------------------------------------- */
 /* --- INCLUDE --------------------------------------------------------- */
 /* --------------------------------------------------------------------- */
-#include <Eigen/Core>
+#include <sot/core/fwd.hh>
 
 /** \addtogroup Filters
     \section subsec_causalfilter CausalFilter
@@ -54,7 +54,7 @@ class CausalFilter {
 
       xSize is
   */
-  CausalFilter(const double &timestep, const int &xSize,
+  CausalFilter(const double &timestep, const size_type &xSize,
                const Eigen::VectorXd &filter_numerator,
                const Eigen::VectorXd &filter_denominator);
 
@@ -68,7 +68,7 @@ class CausalFilter {
   /// sampling timestep of the input signal
   double m_dt;
   /// Size
-  int m_x_size;
+  size_type m_x_size;
   /// Size of the numerator \f$m\f$
   Eigen::VectorXd::Index m_filter_order_m;
   /// Size of the denominator \f$n\f$
@@ -80,8 +80,8 @@ class CausalFilter {
   Eigen::VectorXd m_filter_denominator;
   bool m_first_sample;
   ///
-  int m_pt_numerator;
-  int m_pt_denominator;
+  size_type m_pt_numerator;
+  size_type m_pt_denominator;
   Eigen::MatrixXd m_input_buffer;
   Eigen::MatrixXd m_output_buffer;
 };  // class CausalFilter

include/sot/core/clamp-workspace.hh

@@ -51,28 +51,29 @@ class SOTCLAMPWORKSPACE_EXPORT ClampWorkspace : public dynamicgraph::Entity {
 
   /* --- SIGNALS ------------------------------------------------------------ */
  public:
-  dynamicgraph::SignalPtr<MatrixHomogeneous, int> positionrefSIN;
-  dynamicgraph::SignalPtr<MatrixHomogeneous, int> positionSIN;
-  dynamicgraph::SignalTimeDependent<dynamicgraph::Matrix, int> alphaSOUT;
-  dynamicgraph::SignalTimeDependent<dynamicgraph::Matrix, int> alphabarSOUT;
-  dynamicgraph::SignalTimeDependent<MatrixHomogeneous, int> handrefSOUT;
+  dynamicgraph::SignalPtr<MatrixHomogeneous, sigtime_t> positionrefSIN;
+  dynamicgraph::SignalPtr<MatrixHomogeneous, sigtime_t> positionSIN;
+  dynamicgraph::SignalTimeDependent<dynamicgraph::Matrix, sigtime_t> alphaSOUT;
+  dynamicgraph::SignalTimeDependent<dynamicgraph::Matrix, sigtime_t>
+      alphabarSOUT;
+  dynamicgraph::SignalTimeDependent<MatrixHomogeneous, sigtime_t> handrefSOUT;
 
  public:
   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;
@@ -89,7 +90,7 @@ class SOTCLAMPWORKSPACE_EXPORT ClampWorkspace : public dynamicgraph::Entity {
   double dm_max_yaw;
   double theta_min;
   double theta_max;
-  int mode;
+  size_type mode;
 
   enum { FRAME_POINT, FRAME_REF } frame;
 

include/sot/core/com-freezer.hh

@@ -50,20 +50,21 @@ 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);
   virtual ~CoMFreezer(void);
 
  public: /* --- SIGNAL --- */
-  dynamicgraph::SignalPtr<dynamicgraph::Vector, int> CoMRefSIN;
-  dynamicgraph::SignalPtr<unsigned, int> PGInProcessSIN;
-  dynamicgraph::SignalTimeDependent<dynamicgraph::Vector, int> freezedCoMSOUT;
+  dynamicgraph::SignalPtr<dynamicgraph::Vector, sigtime_t> CoMRefSIN;
+  dynamicgraph::SignalPtr<unsigned, sigtime_t> PGInProcessSIN;
+  dynamicgraph::SignalTimeDependent<dynamicgraph::Vector, sigtime_t>
+      freezedCoMSOUT;
 
  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/contiifstream.hh

@@ -36,7 +36,7 @@ class SOT_CORE_EXPORT Contiifstream {
  protected:
   std::string filename;
   std::streamoff cursor;
-  static const unsigned int BUFFER_SIZE = 256;
+  static const std::size_t BUFFER_SIZE = 256;
   char buffer[BUFFER_SIZE];
   std::list<std::string> reader;
   bool first;

include/sot/core/control-gr.hh

@@ -66,14 +66,14 @@ class ControlGR_EXPORT ControlGR : public Entity {
   double _dimension;
 
  public: /* --- SIGNALS --- */
-  SignalPtr<dynamicgraph::Matrix, int> matrixASIN;
-  SignalPtr<dynamicgraph::Vector, int> accelerationSIN;
-  SignalPtr<dynamicgraph::Vector, int> gravitySIN;
-  SignalTimeDependent<dynamicgraph::Vector, int> controlSOUT;
+  SignalPtr<dynamicgraph::Matrix, sigtime_t> matrixASIN;
+  SignalPtr<dynamicgraph::Vector, sigtime_t> accelerationSIN;
+  SignalPtr<dynamicgraph::Vector, sigtime_t> gravitySIN;
+  SignalTimeDependent<dynamicgraph::Vector, sigtime_t> controlSOUT;
 
  protected:
-  double &setsize(int dimension);
-  dynamicgraph::Vector &computeControl(dynamicgraph::Vector &tau, int t);
+  double &setsize(size_type dimension);
+  dynamicgraph::Vector &computeControl(dynamicgraph::Vector &tau, sigtime_t t);
 };
 
 }  // namespace sot

include/sot/core/control-pd.hh

@@ -65,24 +65,24 @@ class ControlPD_EXPORT ControlPD : public Entity {
   double TimeStep;
 
  public: /* --- SIGNALS --- */
-  SignalPtr<dynamicgraph::Vector, int> KpSIN;
-  SignalPtr<dynamicgraph::Vector, int> KdSIN;
-  SignalPtr<dynamicgraph::Vector, int> positionSIN;
-  SignalPtr<dynamicgraph::Vector, int> desiredpositionSIN;
-  SignalPtr<dynamicgraph::Vector, int> velocitySIN;
-  SignalPtr<dynamicgraph::Vector, int> desiredvelocitySIN;
-  SignalTimeDependent<dynamicgraph::Vector, int> controlSOUT;
-  SignalTimeDependent<dynamicgraph::Vector, int> positionErrorSOUT;
-  SignalTimeDependent<dynamicgraph::Vector, int> velocityErrorSOUT;
+  SignalPtr<dynamicgraph::Vector, sigtime_t> KpSIN;
+  SignalPtr<dynamicgraph::Vector, sigtime_t> KdSIN;
+  SignalPtr<dynamicgraph::Vector, sigtime_t> positionSIN;
+  SignalPtr<dynamicgraph::Vector, sigtime_t> desiredpositionSIN;
+  SignalPtr<dynamicgraph::Vector, sigtime_t> velocitySIN;
+  SignalPtr<dynamicgraph::Vector, sigtime_t> desiredvelocitySIN;
+  SignalTimeDependent<dynamicgraph::Vector, sigtime_t> controlSOUT;
+  SignalTimeDependent<dynamicgraph::Vector, sigtime_t> positionErrorSOUT;
+  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/debug.hh

@@ -15,6 +15,7 @@
 #include <sstream>
 
 #include "sot/core/api.hh"
+#include "sot/core/fwd.hh"
 
 #ifndef VP_DEBUG_MODE
 #define VP_DEBUG_MODE 0
@@ -37,17 +38,17 @@ namespace dynamicgraph {
 namespace sot {
 class SOT_CORE_EXPORT DebugTrace {
  public:
-  static const int SIZE = 512;
+  static const size_type SIZE = 512;
 
   std::stringstream tmpbuffer;
   std::ostream &outputbuffer;
   char charbuffer[SIZE + 1];
-  int traceLevel;
-  int traceLevelTemplate;
+  size_type traceLevel;
+  size_type traceLevelTemplate;
 
   DebugTrace(std::ostream &os) : outputbuffer(os) {}
 
-  inline void trace(const int level, const char *format, ...) {
+  inline void trace(const size_type level, const char *format, ...) {
     if (level <= traceLevel) SOT_COMMON_TRACES;
     tmpbuffer.str("");
   }
@@ -57,12 +58,12 @@ class SOT_CORE_EXPORT DebugTrace {
     tmpbuffer.str("");
   }
 
-  inline void trace(const int level = -1) {
+  inline void trace(const size_type level = -1) {
     if (level <= traceLevel) outputbuffer << tmpbuffer.str();
     tmpbuffer.str("");
   }
 
-  inline void traceTemplate(const int level, const char *format, ...) {
+  inline void traceTemplate(const size_type level, const char *format, ...) {
     if (level <= traceLevelTemplate) SOT_COMMON_TRACES;
     tmpbuffer.str("");
   }
@@ -74,7 +75,7 @@ class SOT_CORE_EXPORT DebugTrace {
 
   inline DebugTrace &pre(const std::ostream &) { return *this; }
 
-  inline DebugTrace &pre(const std::ostream &, int level) {
+  inline DebugTrace &pre(const std::ostream &, size_type level) {
     traceLevel = level;
     return *this;
   }
@@ -150,9 +151,11 @@ SOT_CORE_EXPORT extern DebugTrace sotERRORFLOW;
 
 namespace dynamicgraph {
 namespace sot {
-inline bool sotDEBUG_ENABLE(const int &level) { return level <= VP_DEBUG_MODE; }
+inline bool sotDEBUG_ENABLE(const size_type &level) {
+  return level <= VP_DEBUG_MODE;
+}
 
-inline bool sotTDEBUG_ENABLE(const int &level) {
+inline bool sotTDEBUG_ENABLE(const size_type &level) {
   return level <= VP_TEMPLATE_DEBUG_MODE;
 }
 }  // namespace sot
@@ -176,9 +179,9 @@ inline bool sotTDEBUG_ENABLE(const int &level) {
 
 namespace dynamicgraph {
 namespace sot {
-inline void sotDEBUGF(const int, const char *, ...) {}
+inline void sotDEBUGF(const size_type, const char *, ...) {}
 inline void sotDEBUGF(const char *, ...) {}
-inline void sotERRORF(const int, const char *, ...) {}
+inline void sotERRORF(const size_type, const char *, ...) {}
 inline void sotERRORF(const char *, ...) {}
 inline std::ostream &__null_stream() {
   // This function should never be called. With -O3,
@@ -198,7 +201,7 @@ inline std::ostream &__null_stream() {
 
 namespace dynamicgraph {
 namespace sot {
-inline void sotTDEBUGF(const int, const char *, ...) {}
+inline void sotTDEBUGF(const size_type, const char *, ...) {}
 inline void sotTDEBUGF(const char *, ...) {}
 }  // namespace sot
 }  // namespace dynamicgraph

include/sot/core/derivator.hh

@@ -68,12 +68,12 @@ class Derivator : public dynamicgraph::Entity {
   virtual ~Derivator(void){};
 
  public: /* --- SIGNAL --- */
-  dynamicgraph::SignalPtr<T, int> SIN;
-  dynamicgraph::SignalTimeDependent<T, int> SOUT;
-  dynamicgraph::Signal<double, int> timestepSIN;
+  dynamicgraph::SignalPtr<T, sigtime_t> SIN;
+  dynamicgraph::SignalTimeDependent<T, sigtime_t> SOUT;
+  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;