test_traces.cpp

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/*
 * Copyright 2010,
 * François Bleibel,
 * Olivier Stasse,
 *
 * CNRS/AIST
 *
 */
 
#include <dynamic-graph/linear-algebra.h>
#include <dynamic-graph/signal-base.h>
#include <dynamic-graph/signal-time-dependent.h>
#include <dynamic-graph/signal.h>
#include <dynamic-graph/tracer.h>
 
#include <iostream>
#include <sot/core/debug.hh>
 
using namespace std;
using namespace dynamicgraph;
using namespace dynamicgraph::sot;
 
double &f(double &res, const int & /*t*/) {
  cout << "SIGM!" << endl;
  return res;
}
 
int main() {
  Signal<Vector, sigtime_t> sig1("sig1");
  Vector v1(2);
  v1.fill(1.1);
  sig1 = v1;
 
  Signal<Vector, sigtime_t> sig2("sig2");
  Vector v2(4);
  v2.fill(2.);
  sig2 = v2;
 
  Signal<Vector, sigtime_t> sig3("sig3");
  Vector v3(6);
  v3.fill(3.);
  sig3 = v3;
 
  SignalTimeDependent<double, sigtime_t> sigM(f, sotNOSIGNAL, "sigM");
  sigM.access(0);
 
  Tracer *tracer = new Tracer("trace");
  tracer->addSignalToTrace(sig1);
  tracer->openFiles("/tmp/sot-core", "tr_", ".dat");
 
  tracer->addSignalToTrace(sig2);
 
  return 0;
}