dg_tools
history_recorder.hpp
1 
9 #pragma once
10 
11 /* --------------------------------------------------------------------- */
12 /* --- INCLUDE --------------------------------------------------------- */
13 /* --------------------------------------------------------------------- */
14 
15 /* Matrix */
16 #include <dynamic-graph/linear-algebra.h>
17 namespace dg = dynamicgraph;
18 
19 /* SOT */
20 #include <dynamic-graph/signal-time-dependent.h>
21 #include <dynamic-graph/signal-ptr.h>
22 #include <dynamic-graph/entity.h>
23 
24 
25 /* --------------------------------------------------------------------- */
26 /* --- API ------------------------------------------------------------- */
27 /* --------------------------------------------------------------------- */
28 
29 #if defined (WIN32)
30 # if defined (HistoryRecorder_EXPORTS)
31 # define HistoryRecorder_EXPORTS __declspec(dllexport)
32 # else
33 # define HistoryRecorder_EXPORTS __declspec(dllimport)
34 # endif
35 #else
36 # define HistoryRecorder_EXPORTS
37 #endif
38 
39 namespace dg_tools {
40 
41  /* --------------------------------------------------------------------- */
42  /* --- CLASS ----------------------------------------------------------- */
43  /* --------------------------------------------------------------------- */
44 
52  class HistoryRecorder_EXPORTS HistoryRecorder: public dg::Entity
53  {
54  public:
55 
56  HistoryRecorder( const std::string & name );
57 
58  void init(const int& history_length);
59 
60  static const std::string CLASS_NAME;
61  virtual void display( std::ostream& os ) const;
62  virtual const std::string& getClassName( void ) const {return CLASS_NAME;}
63 
64  dg::SignalPtr<dg::Vector,int> dataSIN;
65  dg::SignalTimeDependent<dg::Vector,int> historySOUT;
66 
67  dg::Vector& getHistory(dg::Vector& history, int time);
68 
69  private:
70  int history_length_;
71  bool is_initialized_;
72  dg::Matrix internal_history_;
73  };
74 } // namespace dg_tools
dg_tools
Definition: history_recorder.hpp:39
dg_tools::HistoryRecorder
Records data over a fixed history and yields the data as truncated vector.
Definition: history_recorder.hpp:52
dynamicgraph
Definition: ComImpedanceController.hpp:31