test_gain.cpp

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

/* -------------------------------------------------------------------------- */
/* --- INCLUDES ------------------------------------------------------------- */
/* -------------------------------------------------------------------------- */

#include <dynamic-graph/linear-algebra.h>
#include <dynamic-graph/signal.h>

#include <iostream>
#include <sot/core/gain-adaptive.hh>
using namespace std;
using namespace dynamicgraph::sot;
using namespace dynamicgraph;

class DummyClass {
 public:
  dynamicgraph::Vector err;

  dynamicgraph::Vector &getError(dynamicgraph::Vector &res, int t) {
    cout << "Dummy::getError [" << t << "] " << endl;
    return res = err;
  }
};

DummyClass dummy;

/* -------------------------------------------------------------------------- */
/* --- INCLUDES ------------------------------------------------------------- */
/* -------------------------------------------------------------------------- */

int main(void) {
  dummy.err.resize(3);
  dummy.err.fill(3);

  GainAdaptive *gain = new GainAdaptive("gain", 4, 1, 5);

  Signal<dynamicgraph::Vector, int> errSig("test");
  errSig.setFunction(boost::bind(&DummyClass::getError, dummy, _1, _2));

  gain->errorSIN.plug(&errSig);
  cout << "Appel of errSig and display of the result." << endl;
  cout << errSig(0) << endl;

  Signal<double, int> &gainSig = gain->gainSOUT;

  cout << "Compute gain from Gain Signal and display." << endl;
  cout << gainSig(0) << endl;

  return 0;
}