Rebased DiscreteFilter block on WB3.0

robotology · Dec 6, 2017 · 580e430 · 580e430
1 parent fafaaf1
commit 580e430
Show file tree

Hide file tree

Showing 5 changed files with 494 additions and 302 deletions.
diff --git a/toolbox/CMakeLists.txt b/toolbox/CMakeLists.txt
@@ -94,6 +94,7 @@ if (WBT_USES_ICUB)
     #
     #     include_directories(SYSTEM ${iKin_INCLUDE_DIRS})
     # endif()
+
     configure_block(BLOCK_NAME "Discrete Filter"
         GROUP "Utilities"
         LIST_PREFIX WBT

diff --git a/toolbox/include/DiscreteFilter.h b/toolbox/include/DiscreteFilter.h
@@ -1,6 +1,7 @@
 #include "Block.h"
 #include <string>
 #include <vector>
+#include <memory>
 
 #ifndef WBT_FILTER_H
 #define WBT_FILTER_H
@@ -24,25 +25,41 @@ namespace yarp {
 class wbt::DiscreteFilter : public wbt::Block {
 private:
     unsigned inputSignalWidth;
-    iCub::ctrl::IFilter* filter;
-    yarp::sig::Vector* y0;
-    yarp::sig::Vector* u0;
-    yarp::sig::Vector* inputSignalVector;
+    std::unique_ptr<iCub::ctrl::IFilter> filter;
+    std::unique_ptr<yarp::sig::Vector> y0;
+    std::unique_ptr<yarp::sig::Vector> u0;
+    std::unique_ptr<yarp::sig::Vector> inputSignalVector;
 
     static void stringToYarpVector(const std::string s, yarp::sig::Vector& v);
 
+    // Parameters
+    static const unsigned PARAM_IDX_FLT_TYPE;
+    static const unsigned PARAM_IDX_NUMCOEFF;
+    static const unsigned PARAM_IDX_DENCOEFF;
+    static const unsigned PARAM_IDX_1LOWP_FC;
+    static const unsigned PARAM_IDX_1LOWP_TS;
+    static const unsigned PARAM_IDX_MD_ORDER;
+    static const unsigned PARAM_IDX_INIT_Y0;
+    static const unsigned PARAM_IDX_INIT_U0;
+    // Inputs
+    static const unsigned INPUT_IDX_SIGNAL;
+    // Outputs
+    static const unsigned OUTPUT_IDX_SIGNAL;
+    // Other defines
+    static const int SIGNAL_DYNAMIC_SIZE;
+
 public:
-    static std::string ClassName;
+    static const std::string ClassName;
 
     DiscreteFilter();
-    ~DiscreteFilter() = default;
-
-    virtual unsigned numberOfParameters();
-    virtual bool configureSizeAndPorts(BlockInformation* blockInfo, wbt::Error* error);
-    virtual bool initialize(BlockInformation* blockInfo, wbt::Error* error);
-    virtual bool initializeInitialConditions(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool terminate(BlockInformation* blockInfo, wbt::Error* error);
-    virtual bool output(BlockInformation* blockInfo, wbt::Error* error);
+    ~DiscreteFilter() override = default;
+
+    unsigned numberOfParameters() override;
+    bool configureSizeAndPorts(BlockInformation* blockInfo) override;
+    bool initialize(const BlockInformation* blockInfo) override;
+    bool initializeInitialConditions(const BlockInformation* blockInfo) override;
+    bool terminate(const BlockInformation* blockInfo) override;
+    bool output(const BlockInformation* blockInfo) override;
 };
 
 #endif // WBT_FILTER_H