4 #ifndef __SOT_SWITCH_H__
5 #define __SOT_SWITCH_H__
7 #include <dynamic-graph/command-bind.h>
8 #include <dynamic-graph/command-getter.h>
9 #include <dynamic-graph/entity.h>
10 #include <dynamic-graph/pool.h>
11 #include <dynamic-graph/signal-ptr.h>
12 #include <dynamic-graph/signal-time-dependent.h>
13 #include <dynamic-graph/signal.h>
15 #include <sot/core/config.hh>
21 template <
typename Value,
typename Time =
int>
23 DYNAMIC_GRAPH_ENTITY_DECL();
29 :
Base(name, CLASS_NAME),
30 selectionSIN(NULL,
"Switch(" + name +
")::input(int)::selection"),
31 boolSelectionSIN(NULL,
32 "Switch(" + name +
")::input(bool)::boolSelection") {
33 this->signalRegistration(selectionSIN << boolSelectionSIN);
34 this->SOUT.setFunction(boost::bind(&Switch::signal,
this, _1, _2));
35 this->SOUT.addDependency(selectionSIN);
36 this->SOUT.addDependency(boolSelectionSIN);
38 using command::makeCommandVoid1;
39 std::string docstring =
"\n"
40 " Set number of input signals\n";
43 makeCommandVoid1(*(
Base *)
this, &Base::setSignalNumber, docstring));
46 " Get number of input signals\n";
47 this->addCommand(
"getSignalNumber",
48 new command::Getter<Base, int>(
49 *
this, &Base::getSignalNumber, docstring));
56 return "Dynamically select a given signal based on a input information.\n";
63 Value &signal(Value &ret,
const Time &time) {
65 if (selectionSIN.isPlugged()) {
66 sel = selectionSIN(time);
68 const bool &b = boolSelectionSIN(time);
71 if (sel < 0 || sel >=
int(this->signalsIN.size()))
72 throw std::runtime_error(
"Signal selection is out of range.");
74 ret = this->signalsIN[sel]->access(time);
80 #endif // __SOT_SWITCH_H__