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Commit 0645c5ed authored by Thomas Moulard's avatar Thomas Moulard
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Fix warnings.

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include/sot-core/contiifstream.h
+ 1
− 1
View file @ 0645c5ed
......@@ -49,7 +49,7 @@ class SOT_CORE_EXPORT Contiifstream
{
protected:
std::string filename;
unsigned int cursor;
std::streamoff cursor;
static const unsigned int BUFFER_SIZE = 256;
char buffer[BUFFER_SIZE];
std::list< std::string > reader;
......
include/sot-core/debug.h
+ 182
− 109
View file @ 0645c5ed
......@@ -18,43 +18,37 @@
* with sot-core. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef __VS_DEBUG_HH
#define __VS_DEBUG_HH
#include <stdio.h>
#include <iostream>
#include <fstream>
#include <sstream>
#include <stdarg.h>
#include <sot-core/sot-core-api.h>
namespace sot {
/* -------------------------------------------------------------------------- */
/* -------------------------------------------------------------------------- */
/* -------------------------------------------------------------------------- */
/* -------------------------------------------------------------------------- */
#ifndef VP_DEBUG_MODE
#define VP_DEBUG_MODE 0
#endif
#ifndef VP_TEMPLATE_DEBUG_MODE
#define VP_TEMPLATE_DEBUG_MODE 0
#endif
#define SOT_COMMON_TRACES do { \
va_list arg; \
va_start(arg,format); \
vsnprintf( charbuffer,SIZE,format,arg ); \
va_end(arg); \
outputbuffer << tmpbuffer.str() << charbuffer <<std::endl; \
} while(0)
class SOT_CORE_EXPORT DebugTrace
#ifndef SOT_CORE_DEBUG_HH
# define SOT_CORE_DEBUG_HH
# include <cstdio>
# include <cstdarg>
# include <iostream>
# include <fstream>
# include <sstream>
# include <sot-core/sot-core-api.h>
# ifndef VP_DEBUG_MODE
# define VP_DEBUG_MODE 0
# endif //! VP_DEBUG_MODE
# ifndef VP_TEMPLATE_DEBUG_MODE
# define VP_TEMPLATE_DEBUG_MODE 0
# endif //! VP_TEMPLATE_DEBUG_MODE
# define SOT_COMMON_TRACES \
do { \
va_list arg; \
va_start(arg,format); \
vsnprintf( charbuffer,SIZE,format,arg ); \
va_end(arg); \
outputbuffer << tmpbuffer.str() << charbuffer <<std::endl; \
} while(0)
namespace sot
{
public:
class SOT_CORE_EXPORT DebugTrace
{
public:
static const int SIZE = 512;
std::stringstream tmpbuffer;
......@@ -65,88 +59,167 @@ class SOT_CORE_EXPORT DebugTrace
DebugTrace( std::ostream& os ): outputbuffer(os) {}
inline void trace( const int level,const char* format,...)
{ if( level<=traceLevel ) SOT_COMMON_TRACES; tmpbuffer.str(""); }
inline void trace( const char* format,...){ SOT_COMMON_TRACES; tmpbuffer.str(""); }
inline void trace( const int level=-1 )
{ if( level<=traceLevel ) outputbuffer << tmpbuffer.str(); tmpbuffer.str(""); }
inline void traceTemplate( const int level,const char* format,...)
{ if( level<=traceLevelTemplate ) SOT_COMMON_TRACES; tmpbuffer.str(""); }
inline void traceTemplate( const char* format,...)
{ SOT_COMMON_TRACES; tmpbuffer.str(""); }
inline DebugTrace& pre( const std::ostream& dummy ) { return *this; }
inline DebugTrace& pre( const std::ostream& dummy,int level )
{ traceLevel = level; return *this; }
/* inline DebugTrace& preTemplate( const std::ostream& dummy,int level ) */
/* { traceLevelTemplate = level; return *this; } */
static const char * DEBUG_FILENAME_DEFAULT;
static void openFile( const char * filename = DEBUG_FILENAME_DEFAULT );
static void closeFile( const char * filename = DEBUG_FILENAME_DEFAULT );
};
SOT_CORE_EXPORT extern DebugTrace sotDEBUGFLOW;
SOT_CORE_EXPORT extern DebugTrace sotERRORFLOW;
#ifdef VP_DEBUG
#define sotPREDEBUG __FILE__ << ": " <<__FUNCTION__ \
<< "(#" << __LINE__ << ") :"
#define sotPREERROR "\t!! "<<__FILE__ << ": " <<__FUNCTION__ \
<< "(#" << __LINE__ << ") :"
# define sotDEBUG(level) if( (level>VP_DEBUG_MODE)||(!sot::sotDEBUGFLOW.outputbuffer.good()) ) ;\
else sot::sotDEBUGFLOW.outputbuffer << sotPREDEBUG
# define sotDEBUGMUTE(level) if( (level>VP_DEBUG_MODE)||(!sot::sotDEBUGFLOW.outputbuffer.good()) ) ;\
else sot::sotDEBUGFLOW.outputbuffer
# define sotERROR if(!sot::sotDEBUGFLOW.outputbuffer.good()); else sot::sotERRORFLOW.outputbuffer << sotPREERROR
# define sotDEBUGF if(!sot::sotDEBUGFLOW.outputbuffer.good()); else sot::sotDEBUGFLOW.pre(sot::sotDEBUGFLOW.tmpbuffer<<sotPREDEBUG,VP_DEBUG_MODE).trace
# define sotERRORF if(!sot::sotDEBUGFLOW.outputbuffer.good()); else sot::sotERRORFLOW.pre(sot::sotERRORFLOW.tmpbuffer<<sotPREERROR).trace
// TEMPLATE
# define sotTDEBUG(level) if( (level>VP_TEMPLATE_DEBUG_MODE)||(!sot::sotDEBUGFLOW.outputbuffer.good()) ) ;\
else sot::sotDEBUGFLOW.outputbuffer << sotPREDEBUG
# define sotTDEBUGF if(!sot::sotDEBUGFLOW.outputbuffer.good()); else sot::sotDEBUGFLOW.pre(sot::sotDEBUGFLOW.tmpbuffer<<sotPREDEBUG,VP_TEMPLATE_DEBUG_MODE).trace
inline bool sotDEBUG_ENABLE( const int & level ) { return level<=VP_DEBUG_MODE; }
inline bool sotTDEBUG_ENABLE( const int & level ) { return level<=VP_TEMPLATE_DEBUG_MODE; }
inline void trace(const int level,const char* format, ...)
{
if (level<=traceLevel)
SOT_COMMON_TRACES;
tmpbuffer.str("");
}
inline void trace(const char* format,...)
{
SOT_COMMON_TRACES;
tmpbuffer.str("");
}
inline void trace(const int level=-1)
{
if (level<=traceLevel)
outputbuffer << tmpbuffer.str(); tmpbuffer.str("");
}
inline void traceTemplate(const int level, const char* format, ...)
{
if (level<=traceLevelTemplate)
SOT_COMMON_TRACES;
tmpbuffer.str("");
}
inline void traceTemplate(const char* format, ...)
{
SOT_COMMON_TRACES;
tmpbuffer.str("");
}
inline DebugTrace& pre(const std::ostream&)
{
return *this;
}
inline DebugTrace& pre(const std::ostream&, int level)
{
traceLevel = level;
return *this;
}
static const char* DEBUG_FILENAME_DEFAULT;
static void openFile(const char * filename = DEBUG_FILENAME_DEFAULT);
static void closeFile(const char * filename = DEBUG_FILENAME_DEFAULT);
};
SOT_CORE_EXPORT extern DebugTrace sotDEBUGFLOW;
SOT_CORE_EXPORT extern DebugTrace sotERRORFLOW;
} // namespace sot
# ifdef VP_DEBUG
# define sotPREDEBUG \
__FILE__ << ": " <<__FUNCTION__ \
<< "(#" << __LINE__ << ") :"
# define sotPREERROR \
"\t!! "<<__FILE__ << ": " <<__FUNCTION__ \
<< "(#" << __LINE__ << ") :"
# define sotDEBUG(level) \
if ((level>VP_DEBUG_MODE) || (!sot::sotDEBUGFLOW.outputbuffer.good()) ) \
; \
else \
sot::sotDEBUGFLOW.outputbuffer << sotPREDEBUG
# define sotDEBUGMUTE(level) \
if( (level>VP_DEBUG_MODE)||(!sot::sotDEBUGFLOW.outputbuffer.good()) ) \
; \
else \
sot::sotDEBUGFLOW.outputbuffer
# define sotERROR \
if(!sot::sotDEBUGFLOW.outputbuffer.good()) \
; \
else sot::sotERRORFLOW.outputbuffer << sotPREERROR
# define sotDEBUGF \
if(!sot::sotDEBUGFLOW.outputbuffer.good()) \
; \
else \
sot::sotDEBUGFLOW.pre \
(sot::sotDEBUGFLOW.tmpbuffer<<sotPREDEBUG,VP_DEBUG_MODE).trace
# define sotERRORF\
if(!sot::sotDEBUGFLOW.outputbuffer.good()) \
; \
else \
sot::sotERRORFLOW.pre(sot::sotERRORFLOW.tmpbuffer<<sotPREERROR).trace
// TEMPLATE
# define sotTDEBUG(level) \
if((level>VP_TEMPLATE_DEBUG_MODE)||(!sot::sotDEBUGFLOW.outputbuffer.good())) \
; \
else \
sot::sotDEBUGFLOW.outputbuffer << sotPREDEBUG
# define sotTDEBUGF \
if(!sot::sotDEBUGFLOW.outputbuffer.good()) \
; \
else \
sot::sotDEBUGFLOW.pre \
(sot::sotDEBUGFLOW.tmpbuffer<<sotPREDEBUG,VP_TEMPLATE_DEBUG_MODE).trace
namespace sot
{
inline bool sotDEBUG_ENABLE(const int & level)
{
return level <= VP_DEBUG_MODE;
}
inline bool sotTDEBUG_ENABLE(const int & level)
{
return level<=VP_TEMPLATE_DEBUG_MODE;
}
} // namespace sot
/* -------------------------------------------------------------------------- */
#else // #ifdef VP_DEBUG
#define sotPREERROR "\t!! "<<__FILE__ << ": " <<__FUNCTION__ \
<< "(#" << __LINE__ << ") :"
# else // VP_DEBUG
# define sotPREERROR \
"\t!! "<<__FILE__ << ": " <<__FUNCTION__ \
<< "(#" << __LINE__ << ") :"
# define sotDEBUG(level) if( 1 ) ; else std::cout
# define sotDEBUGMUTE(level) if( 1 ) ; else std::cout
# define sotERROR sotERRORFLOW.outputbuffer << sotPREERROR
inline void sotDEBUGF( const int level,const char* format,...) { return; }
inline void sotDEBUGF( const char* format,...) { return; }
inline void sotERRORF( const int level,const char* format,...) { return; }
inline void sotERRORF( const char* format,...) { return; }
// TEMPLATE
# define sotTDEBUG(level) if( 1 ) ; else std::cout
inline void sotTDEBUGF( const int level,const char* format,...) { return; }
inline void sotTDEBUGF( const char* format,...) { return; }
#define sotDEBUG_ENABLE(level) false
#define sotTDEBUG_ENABLE(level) false
#endif // #ifdef VP_DEBUG
/* -------------------------------------------------------------------------- */
namespace sot
{
inline void sotDEBUGF(const int,const char*,...) {}
#define sotDEBUGIN(level) sotDEBUG(level) << "# In {" << std::endl
#define sotDEBUGOUT(level) sotDEBUG(level) << "# Out }" << std::endl
#define sotDEBUGINOUT(level) sotDEBUG(level) << "# In/Out { }" << std::endl
inline void sotDEBUGF(const char*,...) {}
inline void sotERRORF(const int, const char*,...) {}
inline void sotERRORF(const char*,...) {}
} // namespace sot
#define sotTDEBUGIN(level) sotTDEBUG(level) << "# In {" << std::endl
#define sotTDEBUGOUT(level) sotTDEBUG(level) << "# Out }" << std::endl
#define sotTDEBUGINOUT(level) sotTDEBUG(level) << "# In/Out { }" << std::endl
// TEMPLATE
# define sotTDEBUG(level) if( 1 ) ; else std::cout
namespace sot
{
inline void sotTDEBUGF(const int, const char*,...) {}
inline void sotTDEBUGF(const char*,...) {}
} // namespace sot
#endif /* #ifdef __VS_DEBUG_HH */
# define sotDEBUG_ENABLE(level) false
# define sotTDEBUG_ENABLE(level) false
/*
* Local variables:
* c-basic-offset: 4
* End:
*/
# endif // VP_DEBUG
# define sotDEBUGIN(level) sotDEBUG(level) << "# In {" << std::endl
# define sotDEBUGOUT(level) sotDEBUG(level) << "# Out }" << std::endl
# define sotDEBUGINOUT(level) sotDEBUG(level) << "# In/Out { }" << std::endl
# define sotTDEBUGIN(level) sotTDEBUG(level) << "# In {" << std::endl
# define sotTDEBUGOUT(level) sotTDEBUG(level) << "# Out }" << std::endl
# define sotTDEBUGINOUT(level) sotTDEBUG(level) << "# In/Out { }" << std::endl
#endif //! #ifdef SOT_CORE_DEBUG_HH
// Local variables:
// c-basic-offset: 4
// End:
include/sot-core/feature-abstract.h
+ 0
− 2
View file @ 0645c5ed
......@@ -123,7 +123,6 @@ class SOT_CORE_EXPORT FeatureAbstract
/*! \brief Compute the Jacobian of the error according the robot state.
\par[out] res: The matrix in which the error will be written.
\par[in] time: The time at which the Jacobian is computed \f$ {\bf J}(q(t)) \f$.
\return The matrix res with the appropriate values.
*/
virtual ml::Matrix& computeJacobian( ml::Matrix& res,int time ) = 0;
......@@ -133,7 +132,6 @@ class SOT_CORE_EXPORT FeatureAbstract
or deduced from the estimated state of the robot at the time specified.
\par[out] res: The vector in which the value will be written.
\par[in] time: The time at which the feature is evaluated \f$ {\bf s}(t)) \f$.
\return The vector res with the appropriate values.
*/
virtual ml::Vector& computeActivation( ml::Vector& res,int time ) = 0;
......
include/sot-core/signal-cast.h
+ 12
− 12
View file @ 0645c5ed
......@@ -85,18 +85,18 @@ private:
*/
#define SOT_SIGNAL_CAST_DECLARATION(TYPE) \
dynamicgraph::SignalCastRegisterer sotCastRegisterer_##TYPE \
(typeid(TYPE), \
SignalCast<TYPE>::disp_, \
SignalCast<TYPE>::cast_, \
SignalCast<TYPE>::trace_);
#define SOT_SIGNAL_CAST_DECLARATION_NAMED(TYPE,NAME) \
dynamicgraph::SignalCastRegisterer sotCastRegisterer_##NAME \
(typeid(TYPE), \
SignalCast<TYPE>::disp_, \
SignalCast<TYPE>::cast_, \
SignalCast<TYPE>::trace_);
dynamicgraph::SignalCastRegisterer sotCastRegisterer_##TYPE \
(typeid(TYPE), \
SignalCast<TYPE>::disp_, \
SignalCast<TYPE>::cast_, \
SignalCast<TYPE>::trace_)
#define SOT_SIGNAL_CAST_DECLARATION_NAMED(TYPE,NAME) \
dynamicgraph::SignalCastRegisterer sotCastRegisterer_##NAME \
(typeid(TYPE), \
SignalCast<TYPE>::disp_, \
SignalCast<TYPE>::cast_, \
SignalCast<TYPE>::trace_)
/* Standard definition macros: the three functions can be specified
* in the macros. To define then in the cpp, just put ';' in the args.
......
src/debug/debug.cpp
+ 33
− 29
View file @ 0645c5ed
......@@ -27,48 +27,52 @@ using namespace sot;
namespace sot {
#ifdef WIN32
const char * DebugTrace::DEBUG_FILENAME_DEFAULT = "c:/tmp/sot-core-traces.txt";
#else /*WIN32*/
#else // WIN32
const char * DebugTrace::DEBUG_FILENAME_DEFAULT = "/tmp/sot-core-traces.txt";
#endif /*WIN32*/
#endif // WIN32
#ifdef VP_DEBUG
#ifdef WIN32
std::ofstream debugfile( "C:/tmp/sot-core-traces.txt", std::ios::trunc&std::ios::out );
#else /*WIN32*/
std::ofstream debugfile( "/tmp/sot-core-traces.txt", std::ios::trunc&std::ios::out );
#endif /*WIN32*/
# ifdef WIN32
std::ofstream debugfile("C:/tmp/sot-core-traces.txt",
std::ios::trunc&std::ios::out);
# else // WIN32
std::ofstream debugfile("/tmp/sot-core-traces.txt",
std::ios::trunc&std::ios::out);
# endif // WIN32
#else // VP_DEBUG
#else
std::ofstream debugfile;
std::ofstream debugfile; //( "/dev/null", std::ios::trunc&std::ios::out );
class __sotDebug_init
{
public:
__sotDebug_init()
{
debugfile.setstate (std::ios::failbit);
}
};
__sotDebug_init __sotDebug_initialisator;
class __sotDebug_init
{
public:
__sotDebug_init( void ) {
debugfile.setstate( std::ios::failbit ) ; /* debugfile.close(); */ }
};
__sotDebug_init __sotDebug_initialisator;
#endif
#endif // VP_DEBUG
} // namespace sot
void DebugTrace::openFile( const char * filename )
void DebugTrace::openFile(const char * filename)
{
if( debugfile.good()&&debugfile.is_open() ) debugfile.close();
debugfile.clear();
debugfile.open( filename, std::ios::trunc&std::ios::out );
//std::cout << filename << debugfile.good() << debugfile.is_open() << std::endl;
if (debugfile.good () && debugfile.is_open ())
debugfile.close ();
debugfile.clear ();
debugfile.open (filename, std::ios::trunc&std::ios::out);
}
void DebugTrace::closeFile( const char * filename )
void DebugTrace::closeFile(const char *)
{
if( debugfile.good()&&debugfile.is_open() ) { debugfile.close(); }
debugfile.setstate( std::ios::failbit ) ;
if (debugfile.good () && debugfile.is_open ())
debugfile.close();
debugfile.setstate (std::ios::failbit);
}
namespace sot {
DebugTrace sotDEBUGFLOW(debugfile);
DebugTrace sotERRORFLOW(debugfile);
}
DebugTrace sotDEBUGFLOW(debugfile);
DebugTrace sotERRORFLOW(debugfile);
} // end of namespace sot.
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