test_ptrcast.cpp

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/*
 * Copyright 2010,
 * François Bleibel,
 * Olivier Stasse,
 *
 * CNRS/AIST
 *
 */
 
/* -------------------------------------------------------------------------- */
/* --- INCLUDES ------------------------------------------------------------- */
/* -------------------------------------------------------------------------- */
#include <dynamic-graph/all-signals.h>
#include <dynamic-graph/linear-algebra.h>
 
#include <iostream>
#include <sot/core/matrix-geometry.hh>
using namespace std;
using namespace dynamicgraph;
using namespace dynamicgraph::sot;
 
Signal<dynamicgraph::Matrix, sigtime_t> base("base");
Signal<dynamicgraph::Matrix, sigtime_t> sig("matrix");
SignalPtr<dynamicgraph::Matrix, sigtime_t> sigptr(&base);
 
Signal<MatrixRotation, sigtime_t> sigMR("matrixRot");
 
int main(void) {
  sigptr.plug(&sig);
  cout << "Correctly plugged matrix" << endl;
  //  sigptr.plug(&sigMR);
  //  cout << "Correctly plugged matrix rotation" << endl;
 
  return 0;
}