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/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
* Copyright Projet JRL 2007
*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
*
* File: test_traces.cpp
* Project: sot
* Author: Nicolas Mansard
*
* Version control
* ===============
*
* $Id$
*
* Description
* ============
*
*
* ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
#include <iostream>
#include <sot-core/debug.h>
#include <dynamic-graph/signal-base.h>
#include <dynamic-graph/signal.h>
#include <dynamic-graph/signal-time-dependent.h>
#include <dynamic-graph/tracer.h>
#include <MatrixAbstractLayer/boost.h>
namespace ml = maal::boost;
using namespace std;
using namespace dynamicgraph;
using namespace sot;
double& f( double& res,const int& t ) { cout << "SIGM!"<<endl; return res; }
int main()
{
Signal<ml::Vector,int> sig1( "sig1" );
ml::Vector v1(2); v1.fill(1.1); sig1 = v1;
Signal<ml::Vector,int> sig2( "sig2" );
ml::Vector v2(4); v2.fill(2.); sig2 = v2;
Signal<ml::Vector,int> sig3( "sig3" );
ml::Vector v3(6); v3.fill(3.); sig3 = v3;
SignalTimeDependent<double,int> sigM( f,sotNOSIGNAL,"sigM" );
sigM.access(0);
Tracer tracer( "trace" );
tracer.addSignalToTrace( sig1 );
tracer.openFiles( "/tmp/sot-core","tr_",".dat" );
tracer.addSignalToTrace( sig2 );
return 0;
}