dg_tools
upsampler.hpp
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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 (Upsampler_EXPORTS)
31 # define Upsampler_EXPORTS __declspec(dllexport)
32 # else
33 # define Upsampler_EXPORTS __declspec(dllimport)
34 # endif
35 #else
36 # define Upsampler_EXPORTS
37 #endif
38 
39 namespace dg_tools {
40 
41  /* --------------------------------------------------------------------- */
42  /* --- CLASS ----------------------------------------------------------- */
43  /* --------------------------------------------------------------------- */
44 
52  class Upsampler_EXPORTS Upsampler: public dg::Entity
53  {
54  public:
55 
56  Upsampler( const std::string & name );
57 
58  void init(const int& upsampling_factor);
59 
60  static const std::string CLASS_NAME;
61  virtual const std::string& getClassName( void ) const {return CLASS_NAME;}
62 
63  dg::SignalPtr<dg::Vector,int> data_inputSIN;
64  dg::SignalTimeDependent<dg::Vector,int> data_outSOUT;
65 
66  dg::Vector& data_out_callback(dg::Vector& history, int time);
67  private:
68  bool is_initialized_;
69  int upsampling_factor_;
70  int first_time_;
71  dg::Vector last_input_;
72  };
73 } // namespace dg_tools
dg_tools::Upsampler
Upsamples the input data by holding the last value for a number of timesteps.
Definition: upsampler.hpp:52
dg_tools
Definition: history_recorder.hpp:39
dynamicgraph
Definition: ComImpedanceController.hpp:31