functionEncoder.h

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/* 
 * Copyright (C) 2010 RobotCub Consortium, European Commission FP6 Project IST-004370
 * Author: Ugo Pattacini
 * email:  ugo.pattacini@iit.it
 * website: www.robotcub.org
 * Permission is granted to copy, distribute, and/or modify this program
 * under the terms of the GNU General Public License, version 2 or any
 * later version published by the Free Software Foundation.
 *
 * A copy of the license can be found at
 * http://www.robotcub.org/icub/license/gpl.txt
 *
 * This program is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
 * Public License for more details
*/
 
#ifndef __FUNCTIONENCODER_H__
#define __FUNCTIONENCODER_H__
 
#include <yarp/os/Property.h>
#include <yarp/sig/Vector.h>
 
 
namespace iCub
{
 
namespace ctrl
{
 
struct Code
{
    yarp::sig::Vector coefficients;
};
 
 
class FunctionEncoder
{
public:
    virtual bool setEncoderOptions(const yarp::os::Property &options) = 0;
 
    virtual yarp::os::Property getEncoderOptions() = 0;
 
    virtual Code encode(const yarp::sig::Vector &values) = 0;
 
    virtual double decode(const Code &code, const double x) = 0;
 
    virtual ~FunctionEncoder() { }
};
 
 
class WaveletEncoder : public FunctionEncoder
{
protected:
    void *w;
    void *F;
    const yarp::sig::Vector *pVal;
 
    unsigned int iCoeff;
    double resolution;
 
    double interpWavelet(const double x);
    double interpFunction(const yarp::sig::Vector &values, const double x);
 
    friend double waveletIntegrand(double, void*);
 
public:
    WaveletEncoder();
 
    virtual bool setEncoderOptions(const yarp::os::Property &options);
 
    virtual yarp::os::Property getEncoderOptions();
 
    virtual Code encode(const yarp::sig::Vector &values);
 
    virtual double decode(const Code &code, const double x);
 
    virtual ~WaveletEncoder();
};
 
}
 
}
 
#endif