motion-period.cpp

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/*
 * Copyright 2010,
 * François Bleibel,
 * Olivier Stasse,
 *
 * CNRS/AIST
 *
 */
 
/* --------------------------------------------------------------------- */
/* --- INCLUDE --------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
/* --- SOT --- */
#include <dynamic-graph/linear-algebra.h>
 
#include <sot/core/debug.hh>
#include <sot/core/exception-feature.hh>
#include <sot/core/factory.hh>
#include <sot/core/motion-period.hh>
using namespace std;
using namespace dynamicgraph::sot;
using namespace dynamicgraph;
 
DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(MotionPeriod, "MotionPeriod");
 
/* --------------------------------------------------------------------- */
/* --- CLASS ----------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
MotionPeriod::MotionPeriod(const string &fName)
    : Entity(fName),
      motionParams(0),
      motionSOUT(boost::bind(&MotionPeriod::computeMotion, this, _1, _2),
                 sotNOSIGNAL,
                 "MotionPeriod(" + name + ")::output(vector)::motion") {
  signalRegistration(motionSOUT);
  motionSOUT.setNeedUpdateFromAllChildren(true);
  resize(0);
}
 
/* --------------------------------------------------------------------- */
/* --------------------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
dynamicgraph::Vector &MotionPeriod::computeMotion(dynamicgraph::Vector &res,
                                                  const sigtime_t &time) {
  sotDEBUGIN(15);
 
  res.resize(size);
  for (std::size_t i = 0; i < size; ++i) {
    const sotMotionParam &p = motionParams[i];
    double x = (double)((time - p.initPeriod) % p.period) / (double)(p.period);
    res(i) = p.initAmplitude;
    switch (p.motionType) {
      case MOTION_CONSTANT: {
        res(i) += p.amplitude;
        break;
      }
      case MOTION_SIN: {
        res(i) += p.amplitude * sin(M_PI * 2 * x);
        break;
      }
      case MOTION_COS: {
        res(i) += p.amplitude * cos(M_PI * 2 * x);
        break;
      }
        // case MOTION_: {res(i)+= p.amplitude; break}
    }
  }
 
  sotDEBUGOUT(15);
  return res;
}
 
void MotionPeriod::resize(const std::size_t &_size) {
  size = _size;
  motionParams.resize(size);
  for (std::size_t i = 0; i < size; ++i) {
    motionParams[i].motionType = MOTION_CONSTANT;
    motionParams[i].amplitude = 0;
    motionParams[i].initPeriod = 0;
    motionParams[i].period = 1;
    motionParams[i].initAmplitude = 0;
  }
}
 
void MotionPeriod::display(std::ostream &os) const {
  os << "MotionPeriod <" << name << "> ... TODO";
}
 
#define SOT_PARAMS_CONFIG(ARGname, ARGtype)                                 \
  else if (cmdLine == #ARGname) {                                           \
    std::size_t rank;                                                       \
    ARGtype period;                                                         \
    cmdArgs >> rank >> std::ws;                                             \
    if (rank >= this->size) {                                               \
      os << "!! Error: size size too large." << std::endl;                  \
    }                                                                       \
    if (cmdArgs.good()) {                                                   \
      cmdArgs >> period;                                                    \
      motionParams[rank].ARGname = period;                                  \
    } else {                                                                \
      os << #ARGname << "[" << rank << "] = " << motionParams[rank].ARGname \
         << std::endl;                                                      \
    }                                                                       \
  }