vector-constant.cpp

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

#include <sot/core/factory.hh>
#include <sot/core/vector-constant.hh>

#include "../src/matrix/vector-constant-command.h"

using namespace std;
using namespace dynamicgraph::sot;
using namespace dynamicgraph;

DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(VectorConstant, "VectorConstant");

/* --------------------------------------------------------------------- */
/* --- VECTOR ---------------------------------------------------------- */
/* --------------------------------------------------------------------- */
VectorConstant::VectorConstant(const std::string &name)
    : Entity(name),
      rows(0),
      SOUT("sotVectorConstant(" + name + ")::output(vector)::sout") {
  SOUT.setDependencyType(TimeDependency<int>::BOOL_DEPENDENT);
  signalRegistration(SOUT);

  //
  // Commands
  //
  // Resize
  std::string docstring;
  docstring =
      "    \n"
      "    Resize the vector and set it to zero.\n"
      "      Input\n"
      "        unsigned size.\n"
      "\n";
  addCommand("resize", new command::vectorConstant::Resize(*this, docstring));
  // set
  docstring =
      "    \n"
      "    Set value of output signal\n"
      "    \n"
      "      input:\n"
      "        - a vector\n"
      "    \n";
  addCommand(
      "set",
      new ::dynamicgraph::command::Setter<VectorConstant, dynamicgraph::Vector>(
          *this, &VectorConstant::setValue, docstring));
}

void VectorConstant::setValue(const dynamicgraph::Vector &inValue) {
  SOUT.setConstant(inValue);
}