32 #include <dynamic-graph/factory.h> 35 #include <dynamic-graph/signal.h> 58 "TRACE operation not possible with this signal. ",
59 "(bad cast while getting value from %s).",
65 throw std::runtime_error(
"Not implemented.");
69 throw std::runtime_error(
"Not implemented.");
73 throw std::runtime_error(
"Not implemented.");
94 #ifdef HAVE_LIBBOOST_THREAD 107 throw std::runtime_error(
"Output signal cannot be assigned a value.");
112 os <<
"Sig:" << this->
name <<
" (Type ";
137 velocitySIN_(0
x0,
"Integrator(" + name +
")::input(vector)::velocity"),
138 configurationSOUT_(
"Integrator(" + name +
139 ")::output(vector)::configuration"),
142 lastComputationTime_(-1),
143 recursivityLevel_(0) {
167 return configuration;
176 }
catch (
const std::exception &e) {
177 dgRTLOG() <<
"exception caught while running periodical commands (before): " 178 << e.what() << std::endl;
182 std::ostringstream os;
183 os <<
"Integrator entity expects zero velocity input for the first " 184 "computation. Got instead " 185 << velocity.transpose() <<
".";
186 throw std::runtime_error(os.str().c_str());
195 }
catch (
const std::exception &e) {
196 dgRTLOG() <<
"exception caught while running periodical commands (after): " 197 << e.what() << std::endl;
200 return configuration;
void setModel(::pinocchio::Model *model)
virtual void get(std::ostream &value) const
Vector & integrate(Vector &configuration, int time)
void signalRegistration(const SignalArray< int > &signals)
virtual void setReference(const Vector *t, Mutex *mutexref=NULL)
internal::Signal configurationSOUT_
::pinocchio::Model * model_
::pinocchio::Model * getModel()
virtual void setConstant(const Vector &t)
PeriodicCall periodicCallBefore_
DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(FeaturePosture, "FeaturePosture")
static T cast(std::istringstream &is)
virtual void setReferenceNonConstant(Vector *t, Mutex *mutexref=NULL)
virtual const Vector & accessCopy() const
virtual void setFunction(boost::function2< Vector &, Vector &, int > t, Mutex *mutexref=NULL)
Integrator(const std::string &name)
PeriodicCall periodicCallAfter_
virtual void set(std::istringstream &value)
SignalPtr< Vector, int > velocitySIN_
virtual std::ostream & display(std::ostream &os) const
boost::function2< Vector &, Vector &, int > Tfunction
virtual Signal & operator=(const Vector &t)
static void disp(const T &value, std::ostream &os)
virtual void trace(std::ostream &os) const
void setReady(const bool sready=true)
void setInitialConfig(const Vector &initConfig)
static void trace(const T &value, std::ostream &os)
virtual const Vector & access(const int &t)