Merge pull request #7 from proyan/master

Update sequence player
stack-of-tasks · Feb 3, 2017 · e06fb82 · e06fb82
2 parents 944ccb5 + fda55c8
commit e06fb82
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Showing 4 changed files with 24 additions and 27 deletions.
diff --git a/.version b/.version
@@ -0,0 +1 @@
+2.0.1
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
@@ -8,8 +8,8 @@ SET (LIBRARY_NAME ${PROJECT_NAME})
 ADD_LIBRARY (${LIBRARY_NAME} SHARED
   cubic-interpolation.cc
   cubic-interpolation.hh
-  kinematic-planner.cc
-  kinematic-planner.hh
+  #kinematic-planner.cc
+  #kinematic-planner.hh
   cubic-interpolation-se3.cc
   cubic-interpolation-se3.hh
   oscillator.cc

diff --git a/src/simpleseqplay.cc b/src/simpleseqplay.cc
@@ -30,14 +30,15 @@ namespace dynamicgraph
 
       SimpleSeqPlay::SimpleSeqPlay (const std::string& name) :
         Entity (name),
-        postureSOUT_ ("SimpleSeqPlay(" + name + ")::output(vector)::posture"),
+	firstSINTERN( NULL,
+                     sotNOSIGNAL,"SimpleSeqPlay("+name+")::intern(dummy)::init" ),
+        postureSOUT_(boost::bind (&SimpleSeqPlay::computePosture,this, _1, _2),
+		    firstSINTERN,
+		    "SimpleSeqPlay(" + name + ")::output(vector)::posture"),
         state_ (0), startTime_ (0), posture_ ()
       {
+	firstSINTERN.setConstant(0);
         signalRegistration (postureSOUT_ );
-        postureSOUT_.setFunction (boost::bind (&SimpleSeqPlay::computePosture,
-                                               this, _1, _2));
-cd
-
         std::string docstring =
           "Load files describing a whole-body motion as reference feature "
           "trajectories\n"
@@ -74,9 +75,7 @@ cd
         std::ifstream file;
         unsigned int lineNumber = 0;
         int postureSize = -2;
-
         fn= filename + ".posture";
-
         // Open file
 	file.open (fn.c_str ());
 	if (!file.is_open ())
@@ -85,15 +84,14 @@ cd
                                       fn);
           }
 
-
         posture_.clear ();
 
         // Read posture
         while (file.good ())
         {
           std::getline (file, line);
           ++lineNumber;
-          tokenizer_t tok (line, escaped_list_separator<char>('\\', '\t', '\"'));
+          tokenizer_t tok (line, escaped_list_separator<char>('\\', ' ', '\"' ));
           std::vector <double> components;
           for(tokenizer_t::iterator it=tok.begin(); it!=tok.end(); ++it)
           {
@@ -118,7 +116,7 @@ cd
               throw std::runtime_error (oss.str ());
             }
           }
-          Vector config (static_cast<unsigned> (components.size () - 1));
+	  dg::Vector config (static_cast<unsigned> (components.size () - 1));
           for (unsigned i = 1; i < components.size (); ++i)
           {
             config (i - 1) = components[i];
@@ -140,7 +138,7 @@ cd
         }
       }
 
-      Vector& SimpleSeqPlay::computePosture (Vector& pos, const int& t)
+      dg::Vector& SimpleSeqPlay::computePosture (dg::Vector& pos, int t)
       {
         if (posture_.size () == 0)
         {
@@ -183,7 +181,7 @@ cd
           "  Warning: pluging signals before loading trajectories will fail.\n";
       }
 
-      DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (SimpleSeqPlay, "SimpleSeqplay");
+      DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (SimpleSeqPlay, "SimpleSeqPlay");
     } // namespace tools
   } //namespace sot
 } // namespace dynamicgraph

diff --git a/src/simpleseqplay.hh b/src/simpleseqplay.hh
@@ -16,43 +16,41 @@
 # include <dynamic-graph/entity.h>
 # include <dynamic-graph/factory.h>
 # include <dynamic-graph/linear-algebra.h>
-# include <dynamic-graph/signal.h>
-# include <sot/core/matrix-homogeneous.hh>
-# include <sot/core/matrix-rotation.hh>
+# include <dynamic-graph/signal-time-dependent.h>
+# include <sot/core/matrix-geometry.hh>
 
 namespace dynamicgraph {
   namespace sot {
     namespace tools {
-      using dynamicgraph::Entity;
-      using dynamicgraph::Vector;
-      using dynamicgraph::Signal;
-      using dynamicgraph::sot::MatrixHomogeneous;
+      namespace dg = dynamicgraph;
 
-      class Seqplay : public Entity
+      class SimpleSeqPlay : public dg::Entity
       {
-	Signal <Vector, int> postureSOUT_;
+	typedef int Dummy;
+	dg::SignalTimeDependent<Dummy,int> firstSINTERN;
+	dg::SignalTimeDependent<dg::Vector,int> postureSOUT_;
 
 	DYNAMIC_GRAPH_ENTITY_DECL();
-	Seqplay (const std::string& name);
+	SimpleSeqPlay (const std::string& name);
 
 	void load (const std::string& filename);
 	void start ();
 	virtual std::string getDocString () const;
 
       private:
-	Vector& computePosture (Vector& pos, const int& t);
+	dg::Vector& computePosture (dg::Vector& pos, int t);
 	// 0: motion not started, 1: motion in progress, 2: motion finished
 	unsigned int state_;
 	unsigned int configId_;
 	int startTime_;
 
-	std::vector <Vector> posture_;
+	std::vector <dg::Vector> posture_;
 
 	bool facultativeFound_[7];
 
 	std::vector <double> time_;
 
-      }; // class Seqplay
+      }; // class SimpleSeqPlay
     } // namespace tools
   } //namespace sot
 } // namespace dynamicgraph