Implement framework for the JointLimitceptor. #172.

benelot · Nov 16, 2015 · 3643ff6 · 3643ff6
1 parent 3309c70
commit 3643ff6
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diff --git a/...volution/population/creature/phenome/morphology/sensor/proprioceptor/JointLimitceptor.cpp b/...volution/population/creature/phenome/morphology/sensor/proprioceptor/JointLimitceptor.cpp
@@ -1,21 +1,29 @@
 //# corresponding header
-#include <model/universe/evolution/population/creature/phenome/morphology/effector/motor/SRBServoMotor.hpp>
 #include <model/universe/evolution/population/creature/phenome/morphology/sensor/proprioceptor/JointLimitceptor.hpp>
+#include <model/universe/evolution/population/creature/phenome/PhenomeModel.hpp>
 
 //## view headers
 //## utils headers
 
-JointLimitceptor::JointLimitceptor(
-	std::vector<CONSTRAINT_TYPE*>::size_type jointIndex,
+JointLimitceptor::JointLimitceptor() :
+	mLimitError(0), mLimit(JointLimitceptor::BOTH_LIMITS) {
+}
+
+JointLimitceptor::JointLimitceptor(JointModel* jointModel,
 	JointPhysics::RotationalDegreeOfFreedom rotationalDOF, Limit limit) :
-	JointProprioceptor(jointIndex, rotationalDOF), mLimitError(0), mLimit(limit) {
+	JointProprioceptor(jointModel, rotationalDOF), mLimitError(0), mLimit(
+		limit) {
 
 }
 
 JointLimitceptor::~JointLimitceptor() {
 
 }
 
+void JointLimitceptor::initialize() {
+	JointProprioceptor::initialize();
+}
+
 void JointLimitceptor::update(double timeSinceLastTick) {
 //	MOTOR_TYPE* motor = mG6DofJoint->getRotationalLimitMotor(mMotorIndex);
 //	switch (mLimit) {
@@ -37,5 +45,4 @@ void JointLimitceptor::update(double timeSinceLastTick) {
 //		setLimitError(motor->m_currentLimitError);
 //		break;
 //	}
-
 }
diff --git a/...volution/population/creature/phenome/morphology/sensor/proprioceptor/JointLimitceptor.hpp b/...volution/population/creature/phenome/morphology/sensor/proprioceptor/JointLimitceptor.hpp
@@ -5,9 +5,14 @@
 #include <model/universe/evolution/population/creature/phenome/morphology/sensor/proprioceptor/JointProprioceptor.hpp>
 
 //# forward declarations
+class PhenomeModel;
+
 //# system headers
 //## controller headers
 //## model headers
+#include <boost/serialization/nvp.hpp>
+#include <boost/serialization/version.hpp>
+
 //## view headers
 //# custom headers
 //## base headers
@@ -28,10 +33,14 @@ class JointLimitceptor: public JointProprioceptor {
 	enum Limit {
 		LOWER_LIMIT, UPPER_LIMIT, BOTH_LIMITS
 	};
-	JointLimitceptor(std::vector<CONSTRAINT_TYPE*>::size_type jointIndex,
+
+	JointLimitceptor();
+	JointLimitceptor(JointModel* jointModel,
 		JointPhysics::RotationalDegreeOfFreedom rotationalDOF, Limit limit);
 	virtual ~JointLimitceptor();
 
+	virtual void initialize();
+
 	virtual void update(double timeSinceLastTick);
 
 	//Accessor methods
@@ -44,9 +53,41 @@ class JointLimitceptor: public JointProprioceptor {
 		setOutputValue(limitError);
 	}
 
+	//Serialization
+	/**
+	 * Give access to boost serialization
+	 */
+	friend class boost::serialization::access;
+
+	/**
+	 * Serializes the joint limit proprioceptor to a string.
+	 * @param os The ostream.
+	 * @param jointLimitProprioceptor The joint limit proprioceptor we want to serialize.
+	 * @return A string containing all information about the joint limit proprioceptor.
+	 */
+	friend std::ostream & operator<<(std::ostream &os,
+		const JointLimitceptor &jointProprioceptor) {
+		return os
+		/**The joint index*/
+		<< "JointAngleProprioceptor: Joint index="
+//			<< jointProprioceptor.mJointIndex
+			/** The motor index*/
+			<< "/Motor index=" << jointProprioceptor.mMotorIndex;
+	}
+
+	/**
+	 * Serializes the joint limit proprioceptor to an xml file.
+	 * @param ar The archive.
+	 * @param The file version.
+	 */
+	template<class Archive>
+	void serialize(Archive & ar, const unsigned int /* file_version */) {
+		ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(JointProprioceptor); /**!< Serialize the base object */
+	}
+
 private:
 	double mLimitError;
 	Limit mLimit;
 };
-
+BOOST_CLASS_VERSION(JointLimitceptor, 1)
 #endif /* MODEL_UNIVERSE_EVOLUTION_POPULATION_CREATURE_PHENOME_MORPHOLOGY_SENSOR_PROPRIOCEPTOR_JOINTLIMITCEPTOR_HPP_ */