fir-filter.cpp

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/*
 * Copyright 2010,
 * François Bleibel,
 * Olivier Stasse,
 *
 * CNRS/AIST
 *
 */

#include <sot/core/factory.hh>
#include <sot/core/fir-filter.hh>

using dynamicgraph::Entity;
using dynamicgraph::EntityRegisterer;
using dynamicgraph::Vector;

#define SOT_FACTORY_TEMPLATE_ENTITY_PLUGIN(sotClassType, sotSigType,           \
                                           sotCoefType, id, className)         \
  template <>                                                                  \
  std::string sotClassType<sotSigType, sotCoefType>::getTypeName(void) {       \
    return #sotSigType;                                                        \
  }                                                                            \
                                                                               \
  template <>                                                                  \
  const std::string sotClassType<sotSigType, sotCoefType>::CLASS_NAME =        \
      std::string(className) + "_" + #sotSigType + "_" + #sotCoefType;         \
                                                                               \
  template <>                                                                  \
  const std::string &sotClassType<sotSigType, sotCoefType>::getClassName(void) \
      const {                                                                  \
    return CLASS_NAME;                                                         \
  }                                                                            \
  extern "C" {                                                                 \
  Entity *regFunction##_##id(const std::string &objname) {                     \
    return new sotClassType<sotSigType, sotCoefType>(objname);                 \
  }                                                                            \
  EntityRegisterer reg##_##id(std::string(className) + "_" + #sotSigType +     \
                                  "_" + #sotCoefType,                          \
                              &regFunction##_##id);                            \
  }

namespace dynamicgraph {
namespace sot {
using dynamicgraph::command::Command;
using dynamicgraph::command::Value;

SOT_FACTORY_TEMPLATE_ENTITY_PLUGIN(FIRFilter, double, double, double_double,
                                   "FIRFilter")
SOT_FACTORY_TEMPLATE_ENTITY_PLUGIN(FIRFilter, Vector, double, vec_double,
                                   "FIRFilter")
SOT_FACTORY_TEMPLATE_ENTITY_PLUGIN(FIRFilter, Vector, Matrix, vec_mat,
                                   "FIRFilter")

template <>
void FIRFilter<Vector, double>::reset_signal(Vector &res,
                                             const Vector &sample) {
  res.resize(sample.size());
  res.fill(0);
}

template <>
void FIRFilter<Vector, Matrix>::reset_signal(Vector &res,
                                             const Vector &sample) {
  res.resize(sample.size());
  res.fill(0);
}

}  // namespace sot
}  // namespace dynamicgraph

#include <sot/core/fir-filter-impl.hh>

#ifdef WIN32
#define DEFINE_SPECIFICATION(sotClassType, sotSigType, sotCoefType)  \
  sotClassType##sotSigType##sotCoefType::                            \
      sotClassType##sotSigType##sotCoefType(const std::string &name) \
      : sotClassType<sotSigType, sotCoefType>(name){};

namespace dynamicgraph {
namespace sot {
typedef double Double;
typedef Value dynamicgraph::command::Value;
DEFINE_SPECIFICATION(FIRFilter, Double, Double)
DEFINE_SPECIFICATION(FIRFilter, Vector, Double)
DEFINE_SPECIFICATION(FIRFilter, Vector, Matrix)
}  // namespace sot
}  // namespace dynamicgraph
#endif  // WIN32