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Use long int for signal time. #4

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Merged
merged 2 commits into from
Jul 28, 2023
Merged

Use long int for signal time. #4

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8853d8e
Use int64_t as type for signal time.
florent-lamiraux Jun 16, 2023
5ace062
Use dynamicgraph::size_type instead of int.
florent-lamiraux Jun 23, 2023
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2 changes: 1 addition & 1 deletion src/controller.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -110,7 +110,7 @@ SoTRobotArmController::~SoTRobotArmController()
{
}

void SoTRobotArmController::setControlSize(const int& size)
void SoTRobotArmController::setControlSize(const size_type& size)
{
device_->setControlSize(size);
}
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4 changes: 2 additions & 2 deletions src/controller.hh
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Expand Up @@ -38,7 +38,7 @@ using dynamicgraph::sot::AbstractSotExternalInterface;
using dynamicgraph::sot::Device;
using dynamicgraph::sot::ControlValues;
using dynamicgraph::sot::SensorValues;

using dynamicgraph::size_type;

class SoTRobotArmController: public AbstractSotExternalInterface
{
Expand All @@ -63,7 +63,7 @@ class SoTRobotArmController: public AbstractSotExternalInterface
void setSecondOrderIntegration(void);

// Set the number of joints that are controlled
virtual void setControlSize(const int& size);
virtual void setControlSize(const size_type& size);

// Run some python commands that cannot be run at construction
virtual void initializePython();
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2 changes: 1 addition & 1 deletion src/device.cc
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Expand Up @@ -90,7 +90,7 @@ void SoTRobotArmDevice::setSensors(map<string,SensorValues> &SensorsIn)
{
sotDEBUGIN(25) ;
map<string,SensorValues>::iterator it;
int t = stateSOUT.getTime () + 1;
sigtime_t t = stateSOUT.getTime () + 1;
bool setRobotState = false;

it = SensorsIn.find("forces");
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12 changes: 7 additions & 5 deletions src/device.hh
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Expand Up @@ -39,6 +39,7 @@ using dynamicgraph::sot::SensorValues;
class SoTRobotArmDevice : public dynamicgraph::sot::Device
{
public:
typedef dynamicgraph::sigtime_t sigtime_t;
static const std::string CLASS_NAME;
static const double TIMESTEP_DEFAULT;

Expand Down Expand Up @@ -79,9 +80,9 @@ protected:
dynamicgraph::Vector previousState_;

/// proportional and derivative position-control gains
dynamicgraph::Signal <dynamicgraph::Vector, int> p_gainsSOUT_;
dynamicgraph::Signal <dynamicgraph::Vector, sigtime_t> p_gainsSOUT_;

dynamicgraph::Signal <dynamicgraph::Vector, int> d_gainsSOUT_;
dynamicgraph::Signal <dynamicgraph::Vector, sigtime_t> d_gainsSOUT_;

/// Intermediate variables to avoid allocation during control
dynamicgraph::Vector dgforces_;
Expand All @@ -99,6 +100,7 @@ protected:
class DeviceToDynamic : public dynamicgraph::Entity
{
public:
typedef dynamicgraph::sigtime_t sigtime_t;
static const std::string CLASS_NAME;
DeviceToDynamic(const std::string& name) :
dynamicgraph::Entity(name), sinSIN(0x0, "DeviceToDynamic("+name+")::input(vector)::sin"),
Expand All @@ -112,14 +114,14 @@ public:
inputSize_ = size;
}
private:
dynamicgraph::Vector& compute(dynamicgraph::Vector& res, int time)
dynamicgraph::Vector& compute(dynamicgraph::Vector& res, sigtime_t time)
{
res.head<7>() = sinSIN(time);
res[7] = 0;
return res;
}
dynamicgraph::SignalPtr<dynamicgraph::Vector, int> sinSIN;
dynamicgraph::SignalTimeDependent<dynamicgraph::Vector, int> soutSOUT;
dynamicgraph::SignalPtr<dynamicgraph::Vector, sigtime_t> sinSIN;
dynamicgraph::SignalTimeDependent<dynamicgraph::Vector, sigtime_t> soutSOUT;
int inputSize_;
};

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