NemoTransformation.h

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/* ============================================================
 *
 * This file is a part of CCA project
 *
 * Copyright (C) 2011 by Arne Nordmann <anordman at cor-lab dot uni-bielefeld dot de>
 *
 * This file may be licensed under the terms of the
 * GNU Lesser General Public License Version 3 (the ``LGPL''),
 * or (at your option) any later version.
 *
 * Software distributed under the License is distributed
 * on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either
 * express or implied. See the LGPL for the specific language
 * governing rights and limitations.
 *
 * You should have received a copy of the LGPL along with this
 * program. If not, go to http://www.gnu.org/licenses/lgpl.html
 * or write to the Free Software Foundation, Inc.,
 * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
 *
 * The development of this software was supported by:
 *   CoR-Lab, Research Institute for Cognition and Robotics
 *     Bielefeld University
 *
 * ============================================================ */

#pragma once

#include <string>

#include <boost/shared_ptr.hpp>

#include <nemo/Vector.h>
#include <nemo/Mapping.h>

#include "cca/Node.h"
#include "cca/processing/Moderate.h"

typedef nemo::Mapping<nemo::RealVector, nemo::RealVector> VectorMapping;

namespace cca {

template<class T>
class NemoTransformation: public Node {
public:

    void onProcess() {
        nemo::RealVector in(nemo::dim(2), 0.0), out(nemo::dim(2), 0.0);

        in[0] = boost::static_pointer_cast<T>(this->inputs[0]->get())->x();
        in[1] = boost::static_pointer_cast<T>(this->inputs[0]->get())->y();

        out = this->mapping(in);

        typename boost::shared_ptr<T> send(new T(out[0], out[1], 0));
        this->publish(0, send);
    }

    static NodePtr create(const std::string &nodename,
            VectorMapping mapping) {
        return NodePtr(new NemoTransformation<T>(nodename, mapping));
    }

    friend std::ostream & operator<<(std::ostream& os,
            const NemoTransformation<T> &node) {
        os.precision(3); // Precision when printing double values
        os << std::endl << "<NemoTransformation '" << node.getName() << "'>"
                << std::endl;
        return os;
    }

    ~NemoTransformation() {
    }

protected:
    NemoTransformation(const std::string &nodename, VectorMapping mappng) :
            Node(nodename), mapping(mappng) {

        add("in", InputPort < T > ::create());
        add("out", OutputPort < T > ::create());

        // Define default strategy - moderate
        this->setProcessingStrategy(Moderate::timeout());
    }

private:
    VectorMapping mapping;
};

}