This class represents a variable in a mathematical sense. More...

#include <Variable.h>

Inheritance diagram for ocra::Variable:

Collaboration diagram for ocra::Variable:

Public Types
typedef Component< Variable, CompositeVariable, VariableParenthood >::parenthood_t	parenthood_t

Public Types inherited from ocra::Component< Variable, CompositeVariable, VariableParenthood >
typedef Variable	component_t
	Inherited typedefs. More...

typedef CompositeVariable	parent_t

typedef Parenthood< Variable, CompositeVariable, VariableParenthood >	parenthood_t

typedef std::vector< parenthood_t * >::const_iterator	const_iterator

typedef std::vector< parenthood_t * >::iterator	iterator

Public Member Functions
	Variable (const std::string &name="")

virtual	~Variable ()=0
	The variable is automatically detached from parents and children at destruction. More...

virtual const std::string &	getName () const

virtual bool	isBaseVariable () const

int	getSize () const

	operator const VectorXd & () const
	Implicit conversion to an Eigen vector. More...

const VectorXd &	getValue () const

void	setValue (const VectorXd &value)

bool	hasTimeDerivative () const

bool	hasTimePrimitive () const

void	getRelativeMappingOf (const Variable &subVariable, std::vector< int > &mapping) const
	Returns the indexes of a subvariable in the variable. More...

size_t	getNumberOfChildren () const
	Returns 0 in BaseVariable and the number of childhoods otherwise. More...

void	printNode (int depth, std::ostream &os) const
	Prints the name of the variables; preprends 3*depth blank spaces. More...


double	operator[] (size_t i) const

double	at (size_t i) const


virtual Variable &	getTimeDerivative ()
	Get the time derivative/primitive of the variable. More...

virtual Variable &	getTimePrimitive ()


void	createTimeDerivative (const std::string &name)
	Creates a time derivative/primitive with a given name. More...

void	createTimePrimitive (const std::string &name)

Public Member Functions inherited from ocra::Component< Variable, CompositeVariable, VariableParenthood >
bool	isChildOf (const CompositeVariable &node)

void	printTree (std::ostream &os)

virtual int	isAncestorOf (const Variable &node) const =0
	Returns the number of levels that separate the component from a potential child. More...

virtual void	printSubTree (int depth, std::ostream &os) const =0
	Overload in ComponentDerived and CompositeDerived to simply call printTree_impl(). More...

size_t	getNumParenthoods () const
	Basic access to the parents. More...

const parenthood_t &	getParenthood (size_t i) const

const_iterator	parents_begin () const
	Iterator range on the set of parents. More...

iterator	parents_begin ()

const_iterator	parents_end () const

iterator	parents_end ()

int	isDescendantOf (const CompositeVariable &node) const
	Returns the number of levels that separates the component from a potential parent. More...

int	isDescendantOf (const Variable &node) const

Public Member Functions inherited from ocra::ObserverSubject
	ObserverSubject ()

virtual	~ObserverSubject ()

Public Member Functions inherited from ocra::Observer
virtual	~Observer ()

template<int EVT>
void	bind (SubjectBase< EVT > &subject)
	Call this method to automatically propagate observed events to observers connected to the subject given in argument. More...

template<int EVT>
void	stopPropagation ()

Public Member Functions inherited from ocra::ObserverBase< EVT_RESIZE >
void	bind (subject_type &subject)
	Call this method to automatically propagate observed events to observers connected to the subject given in argument. More...

Public Member Functions inherited from ocra::ObserverBase< EVT_CHANGE_DEPENDENCIES >
void	bind (subject_type &subject)
	Call this method to automatically propagate observed events to observers connected to the subject given in argument. More...

Public Member Functions inherited from ocra::ObserverBase< EVT_CHANGE_VALUE >
void	bind (subject_type &subject)
	Call this method to automatically propagate observed events to observers connected to the subject given in argument. More...

Public Member Functions inherited from ocra::Subject
virtual	~Subject ()

template<int EVT, class Derived , class Base >
void	connect (Derived &object, void(Base::*newCallback)(int)) const
	Call this method to register a non-static method as a callback. More...

template<int EVT>
void	connect (void(*newCallback)(int)) const
	Call this method to register a free function as a callback. More...

template<int EVT, class Derived , class Base >
void	disconnect (Derived &object, void(Base::*callbackToErase)(int)) const
	Disconnect non-static method. More...

template<int EVT>
void	disconnect (void(*callbackToErase)(int)) const
	Disconnect free function. More...

template<int EVT>
void	propagate () const

template<int EVT>
void	propagate (int timestamp) const

Public Member Functions inherited from ocra::SubjectBase< EVT_RESIZE >
void	connect (T &object, typename SubjectBaseTraits< EVT, T >::callback_type newCallback) const
	Call this method to register a non-static method as a callback. More...

void	connect (typename SubjectBaseTraits< EVT, void >::callback_type newCallback) const
	Call this method to register a free function as a callback. More...

void	disconnect (T &object, typename SubjectBaseTraits< EVT, T >::callback_type callback) const
	Disconnect non-static method. More...

void	disconnect (typename SubjectBaseTraits< EVT, void >::callback_type callbackToErase) const
	Disconnect free function. More...

void	propagate (int timestamp) const

void	propagate () const

Public Member Functions inherited from ocra::SubjectBase< EVT_CHANGE_DEPENDENCIES >
void	connect (T &object, typename SubjectBaseTraits< EVT, T >::callback_type newCallback) const
	Call this method to register a non-static method as a callback. More...

void	connect (typename SubjectBaseTraits< EVT, void >::callback_type newCallback) const
	Call this method to register a free function as a callback. More...

void	disconnect (T &object, typename SubjectBaseTraits< EVT, T >::callback_type callback) const
	Disconnect non-static method. More...

void	disconnect (typename SubjectBaseTraits< EVT, void >::callback_type callbackToErase) const
	Disconnect free function. More...

void	propagate (int timestamp) const

void	propagate () const

Public Member Functions inherited from ocra::SubjectBase< EVT_CHANGE_VALUE >
void	connect (T &object, typename SubjectBaseTraits< EVT, T >::callback_type newCallback) const
	Call this method to register a non-static method as a callback. More...

void	connect (typename SubjectBaseTraits< EVT, void >::callback_type newCallback) const
	Call this method to register a free function as a callback. More...

void	disconnect (T &object, typename SubjectBaseTraits< EVT, T >::callback_type callback) const
	Disconnect non-static method. More...

void	disconnect (typename SubjectBaseTraits< EVT, void >::callback_type callbackToErase) const
	Disconnect free function. More...

void	propagate (int timestamp) const

void	propagate () const

Protected Member Functions
virtual void	do_setValue (const VectorXd &value)=0
	This method will attempt to assign a given value to the memory map. More...

virtual size_t	do_getNumberOfChildren () const =0
	Returns 0 in {Wrap\|Base}Variable and the number of childhoods otherwise. More...


void	onAttachedParent (const parenthood_t &parent)

void	onDetachedParent (const parenthood_t &parent)


virtual Variable *	do_createTimeDerivative (const std::string &name)=0
	These methods must be overloaded in children classes to perform instantiation and return pointers to them. More...

virtual Variable *	do_createTimePrimitive (const std::string &name)=0

Protected Member Functions inherited from ocra::Component< Variable, CompositeVariable, VariableParenthood >
virtual void	onAttachedParent (const parenthood_t &parent)
	Default implementation of the callbacks, to overload in class ComponentDerived. More...

virtual void	onDetachedParent (const parenthood_t &parent)

	Component ()

	~Component ()

Protected Member Functions inherited from ocra::ObserverBase< EVT_RESIZE >
void	stopPropagation ()
	Call this method from your callbacks to avoid propagation to the bound subject (if any). More...

	ObserverBase ()

	~ObserverBase ()

Protected Member Functions inherited from ocra::ObserverBase< EVT_CHANGE_DEPENDENCIES >
void	stopPropagation ()
	Call this method from your callbacks to avoid propagation to the bound subject (if any). More...

	ObserverBase ()

	~ObserverBase ()

Protected Member Functions inherited from ocra::ObserverBase< EVT_CHANGE_VALUE >
void	stopPropagation ()
	Call this method from your callbacks to avoid propagation to the bound subject (if any). More...

	ObserverBase ()

	~ObserverBase ()

Protected Member Functions inherited from ocra::SubjectBase< EVT_RESIZE >
	SubjectBase ()

	~SubjectBase ()

Protected Member Functions inherited from ocra::SubjectBase< EVT_CHANGE_DEPENDENCIES >
	SubjectBase ()

	~SubjectBase ()

Protected Member Functions inherited from ocra::SubjectBase< EVT_CHANGE_VALUE >
	SubjectBase ()

	~SubjectBase ()

Static Protected Member Functions

static void	callInsertInMemoryMap (Variable &obj, const parenthood_t &child, size_t whereInChild, std::vector< const double * >::const_iterator start, std::vector< const double * >::const_iterator end)
	Proxy to the implementation of memory maps update. More...

static void	callRemoveFromMemoryMap (Variable &obj, const parenthood_t &child, size_t whereInChild, size_t numElements)

static std::vector< const double * > &	getMemoryMap (Variable &obj)

Additional Inherited Members
Protected Types inherited from ocra::ObserverBase< EVT_RESIZE >
typedef SubjectBase< EVT >	subject_type

typedef InvokerBase< EVT >	invoker_type

Protected Types inherited from ocra::ObserverBase< EVT_CHANGE_DEPENDENCIES >
typedef SubjectBase< EVT >	subject_type

typedef InvokerBase< EVT >	invoker_type

Protected Types inherited from ocra::ObserverBase< EVT_CHANGE_VALUE >
typedef SubjectBase< EVT >	subject_type

typedef InvokerBase< EVT >	invoker_type

Detailed Description

This class represents a variable in a mathematical sense.

This class represents the mathematical concept of variable. A variable has a name, and a value. A variable can be created by composition of existing variables (

See also: ocra::CompositeVariable).

This class is an abstract class and cannot be instantiated. Variables that can be instantiated are:

A variable is a tree whose leaves are instances of BaseVariable; the other nodes are instances of CompositeVariable. Any node (leaf or not) can be manipulated using the Variable interface. Note, however, that the behavior of the functions can differ depending on what instances of variables compose the tree.

Example:

ocra::BaseVariable b1("b1", 3);
ocra::BaseVariable b2("b2", 2);
ocra::CompositeVariable c("c");
c.add(b1).add(b2);

The resulting structure is:

. |- BaseVariable("b1") .CompositeVariable("c") –| . |- BaseVariable("b2")

An access to c[2] is equivalent to an access to b1[2] and an access to c[4] is equivalent to an access to b2[1]: the variables b1 and b2 have been concatenated to produce the composite variable c.

Warning: DO NOT ATTEMPT TO DERIVE THIS CLASS! The only intended derived classes are BaseVariable, and CompositeVariable.

Definition at line 105 of file Variable.h.

Member Typedef Documentation

typedef Component<Variable, CompositeVariable, VariableParenthood>::parenthood_t ocra::Variable::parenthood_t

Definition at line 116 of file Variable.h.

Constructor & Destructor Documentation

ocra::Variable::Variable ( const std::string & name = "" )

Definition at line 36 of file Variable.cpp.

ocra::Variable::~Variable ( )

pure virtual

The variable is automatically detached from parents and children at destruction.

Definition at line 46 of file Variable.cpp.

Member Function Documentation

double ocra::Variable::at ( size_t i ) const

Definition at line 70 of file Variable.cpp.

void ocra::Variable::callInsertInMemoryMap	(	Variable &	obj,
		const parenthood_t &	child,
		size_t	whereInChild,
		std::vector< const double * >::const_iterator	start,
		std::vector< const double * >::const_iterator	end
	)

staticprotected

Proxy to the implementation of memory maps update.

Definition at line 278 of file Variable.cpp.

void ocra::Variable::callRemoveFromMemoryMap	(	Variable &	obj,
		const parenthood_t &	child,
		size_t	whereInChild,
		size_t	numElements
	)

staticprotected

Definition at line 300 of file Variable.cpp.

void ocra::Variable::createTimeDerivative ( const std::string & name )

Creates a time derivative/primitive with a given name.

Throws std::runtime_error if the derivative/primitive already exist.

Definition at line 130 of file Variable.cpp.

void ocra::Variable::createTimePrimitive ( const std::string & name )

Definition at line 147 of file Variable.cpp.

virtual Variable* ocra::Variable::do_createTimeDerivative ( const std::string & name )

protectedpure virtual

These methods must be overloaded in children classes to perform instantiation and return pointers to them.

These methods shall not return null pointers!

Note: This will be asserted if the preprocessor symbol OCRA_ASSERT_ACTIVE is defined.

Implemented in ocra::CompositeVariable, and ocra::BaseVariable.

virtual Variable* ocra::Variable::do_createTimePrimitive ( const std::string & name )

protectedpure virtual

Implemented in ocra::CompositeVariable, and ocra::BaseVariable.

virtual size_t ocra::Variable::do_getNumberOfChildren ( ) const

protectedpure virtual

Returns 0 in {Wrap|Base}Variable and the number of childhoods otherwise.

Other behaviors will result in an assertion failure in DEBUG or if OCRA_ASSERT_ACTIVE is defined.

Implemented in ocra::CompositeVariable, and ocra::BaseVariable.

virtual void ocra::Variable::do_setValue ( const VectorXd & value )

protectedpure virtual

This method will attempt to assign a given value to the memory map.

Implemented in ocra::CompositeVariable, and ocra::BaseVariable.

std::vector< const double * > & ocra::Variable::getMemoryMap ( Variable & obj )

staticprotected

Definition at line 305 of file Variable.cpp.

const std::string & ocra::Variable::getName ( ) const

virtual

Definition at line 164 of file Variable.cpp.

size_t ocra::Variable::getNumberOfChildren ( ) const

Returns 0 in BaseVariable and the number of childhoods otherwise.

Definition at line 223 of file Variable.cpp.

void ocra::Variable::getRelativeMappingOf	(	const Variable &	subVariable,
		std::vector< int > &	mapping
	)		const

Returns the indexes of a subvariable in the variable.

Returns a mapping such that (*this)[mapping[i]] == subVariable[i]. Example: ocra::BaseVariable("b1", 3); ocra::BaseVariable("b2", 2); ocra::CompositeVariable c; c.add(b1).add(b2); std::vector<int> mapping_of_b2_in_c; c.getRelativeMappingOf(b2, mapping_of_b2_in_c); // mapping_of_b2_in_c is [3, 4]

Definition at line 175 of file Variable.cpp.

int ocra::Variable::getSize ( ) const

Definition at line 81 of file Variable.cpp.

Variable & ocra::Variable::getTimeDerivative ( )

virtual

Get the time derivative/primitive of the variable.

If the derivative/primitive doesn't exist, it will be created automatically at the first call to this method.

Reimplemented in ocra::CompositeVariable, and ocra::BaseVariable.

Definition at line 106 of file Variable.cpp.

Variable & ocra::Variable::getTimePrimitive ( )

virtual

Reimplemented in ocra::CompositeVariable, and ocra::BaseVariable.

Definition at line 113 of file Variable.cpp.

const VectorXd & ocra::Variable::getValue ( ) const

Definition at line 94 of file Variable.cpp.

bool ocra::Variable::hasTimeDerivative ( ) const

Definition at line 120 of file Variable.cpp.

bool ocra::Variable::hasTimePrimitive ( ) const

Definition at line 125 of file Variable.cpp.

bool ocra::Variable::isBaseVariable ( ) const

virtual

Return true if this variable is a base variable, false otherwise.

Reimplemented in ocra::BaseVariable.

Definition at line 169 of file Variable.cpp.

void ocra::Variable::onAttachedParent ( const parenthood_t & parent )

protected

Definition at line 228 of file Variable.cpp.

void ocra::Variable::onDetachedParent ( const parenthood_t & parent )

protected

Definition at line 242 of file Variable.cpp.

ocra::Variable::operator const VectorXd & ( ) const

Implicit conversion to an Eigen vector.

Definition at line 87 of file Variable.cpp.

double ocra::Variable::operator[] ( size_t i ) const

Get the value of the component i of the variable. The method Variable::at performs an additional verifications and throws std::runtime_error if i is out of bounds.

Definition at line 65 of file Variable.cpp.

void ocra::Variable::printNode	(	int	depth,
		std::ostream &	os
	)		const

virtual

Prints the name of the variables; preprends 3*depth blank spaces.

Implements ocra::Component< Variable, CompositeVariable, VariableParenthood >.

Definition at line 251 of file Variable.cpp.

void ocra::Variable::setValue ( const VectorXd & value )

Definition at line 99 of file Variable.cpp.

The documentation for this class was generated from the following files:

Public Types

Public Member Functions

Protected Member Functions

Static Protected Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation