This class implements the Stack of Task. It allows to deal with the priority of the controllers through the shell. The controllers can be either constraints either tasks. More...

#include <sot/core/sot.hh>

Inheritance diagram for dynamicgraph::sot::Sot:

List of all members.

Public Member Functions
virtual const std::string &	getClassName () const
	Returns the name of this class.
	Sot (const std::string &name)
	Default constructor.
	~Sot (void)
virtual void	defineFreeFloatingJoints (const unsigned int &jointIdFirst, const unsigned int &jointIdLast=-1)
	This method defines the part of the state vector which correspond to the free flyer of the robot.
virtual void	defineNbDof (const unsigned int &nbDof)
virtual void	commandLine (const std::string &cmdLine, std::istringstream &cmdArgs, std::ostream &os)
	This method deals with the command line. The command given in argument is send to the stack of tasks by the shell. The command understood by sot are:
virtual std::ostream &	writeGraph (std::ostream &os) const
	This method write the priority between tasks in the output stream os.
Methods to handle the stack.
virtual void	push (TaskAbstract &task)
	Push the task in the stack. It has a lowest priority than the previous ones. If this is the first task, then it has the highest priority.
virtual TaskAbstract &	pop (void)
	Pop the task from the stack. This method removes the task with the smallest priority in the task. The other are projected in the null-space of their predecessors.
virtual bool	exist (const TaskAbstract &task)
	This method allows to know if a task exists or not.
virtual void	remove (const TaskAbstract &task)
	Remove a task regardless to its position in the stack. It removes also the signals connected to the output signal of this stack.
virtual void	removeDependency (const TaskAbstract &key)
	This method removes the output signals depending on this task.
virtual void	up (const TaskAbstract &task)
	This method makes the task to swap with the task having the immediate superior priority.
virtual void	down (const TaskAbstract &task)
	This method makes the task to swap with the task having the immediate inferior priority.
virtual void	clear (void)
	Remove all the tasks from the stack.
Methods to handle the constraints.
virtual void	addConstraint (Constraint &constraint)
	Add a constraint to the stack with the current level of priority.
virtual void	removeConstraint (const Constraint &constraint)
	Remove a constraint from the stack.
virtual void	clearConstraint (void)
	Remove all the constraints from the stack.
Methods to compute the control law following the
recursive definition of the stack of tasks.
virtual ml::Vector &	computeControlLaw (ml::Vector &control, const int &time)
	Compute the control law.
virtual ml::Matrix &	computeConstraintProjector (ml::Matrix &Proj, const int &time)
	Compute the projector of the constraint.
Static Public Member Functions
static ml::Matrix &	computeJacobianConstrained (const ml::Matrix &Jac, const ml::Matrix &K, ml::Matrix &JK, ml::Matrix &Jff, ml::Matrix &Jact)
static ml::Matrix &	computeJacobianConstrained (const TaskAbstract &task, const ml::Matrix &K)
static ml::Vector	taskVectorToMlVector (const VectorMultiBound &taskVector)
Public Attributes
Methods to handle signals
SignalPtr< ml::Vector, int >	q0SIN
	Intrinsec velocity of the robot, that is used to initialized the recurence of the SOT (e.g. velocity comming from the other OpenHRP plugins).
SignalPtr< double, int >	inversionThresholdSIN
	This signal allow to change the threshold for the damped pseudo-inverse on-line.
SignalTimeDependent < ml::Matrix, int >	constraintSOUT
	Allow to get the result of the Constraint projector.
SignalTimeDependent < ml::Vector, int >	controlSOUT
	Allow to get the result of the computed control law.
Static Public Attributes
static const std::string	CLASS_NAME
	Specify the name of the class entity.
static const double	INVERSION_THRESHOLD_DEFAULT
	Threshold to compute the dumped pseudo inverse.
static const unsigned int	NB_JOINTS_DEFAULT
	Number of joints by default.
Protected Types
typedef std::list< TaskAbstract * >	StackType
	Defines a type for a list of tasks.
typedef std::list< Constraint * >	ConstraintListType
	Defines a type for a list of constraints.
Protected Attributes
StackType	stack
	This field is a list of controllers managed by the stack of tasks.
ConstraintListType	constraintList
	This field is a list of constraints managed by the stack of tasks.
unsigned int	ffJointIdFirst
	Defines an interval in the state vector of the robot which is the free flyer.
unsigned int	ffJointIdLast
unsigned int	nbJoints
	Store the number of joints to be used in the command computed by the stack of tasks.
TaskAbstract *	taskGradient
	Store a pointer to compute the gradient.
ml::Matrix	Proj
bool	recomputeEachTime
Static Protected Attributes
static const unsigned int	FF_JOINT_ID_DEFAULT = 0
	Defines a default joint.
Methods to display the stack of tasks.
virtual void	display (std::ostream &os) const
SOTSOT_CORE_EXPORT friend std::ostream &	operator<< (std::ostream &os, const Sot &sot)

Detailed Description

This class implements the Stack of Task. It allows to deal with the priority of the controllers through the shell. The controllers can be either constraints either tasks.

Member Typedef Documentation

typedef std::list<Constraint*> dynamicgraph::sot::Sot::ConstraintListType [protected]

Defines a type for a list of constraints.

typedef std::list<TaskAbstract*> dynamicgraph::sot::Sot::StackType [protected]

Defines a type for a list of tasks.

Constructor & Destructor Documentation

dynamicgraph::sot::Sot::Sot ( const std::string & name )

Default constructor.

dynamicgraph::sot::Sot::~Sot ( void ) [inline]

Member Function Documentation

virtual void dynamicgraph::sot::Sot::addConstraint ( Constraint & constraint ) [virtual]

Add a constraint to the stack with the current level of priority.

virtual void dynamicgraph::sot::Sot::clear ( void ) [virtual]

Remove all the tasks from the stack.

virtual void dynamicgraph::sot::Sot::clearConstraint ( void ) [virtual]

Remove all the constraints from the stack.

virtual void dynamicgraph::sot::Sot::commandLine	(	const std::string &	cmdLine,
		std::istringstream &	cmdArgs,
		std::ostream &	os
	)		`[virtual]`

This method deals with the command line. The command given in argument is send to the stack of tasks by the shell. The command understood by sot are:

Tasks
- push <task> : Push a task in the stack (FILO).
- pop : Remove the task push in the stack.
- down <task> : Make the task have a higher priority, i.e. swap with the task immediatly superior in priority.
- up <task> : Make the task have a lowest priority, i.e. swap with the task immediatly inferior in priority.
- rm <task> : Remove the task from the stack.
Constraints
- addConstraint <constraint> : Add the constraint in the stack (FILO).
- rmConstraint <constraint> : Remove the constraint.
- clearConstraint : Remove all the constraints.
- printConstraint :

Reimplemented from dynamicgraph::Entity.

Reimplemented in dynamicgraph::sot::SotH.

virtual ml::Matrix& dynamicgraph::sot::Sot::computeConstraintProjector	(	ml::Matrix &	Proj,
		const int &	time
	)		`[virtual]`

Compute the projector of the constraint.

virtual ml::Vector& dynamicgraph::sot::Sot::computeControlLaw	(	ml::Vector &	control,
		const int &	time
	)		`[virtual]`

Compute the control law.

Reimplemented in dynamicgraph::sot::SotH.

static ml::Matrix& dynamicgraph::sot::Sot::computeJacobianConstrained	(	const ml::Matrix &	Jac,
		const ml::Matrix &	K,
		ml::Matrix &	JK,
		ml::Matrix &	Jff,
		ml::Matrix &	Jact
	)		`[static]`

static ml::Matrix& dynamicgraph::sot::Sot::computeJacobianConstrained	(	const TaskAbstract &	task,
		const ml::Matrix &	K
	)		`[static]`

virtual void dynamicgraph::sot::Sot::defineFreeFloatingJoints	(	const unsigned int &	jointIdFirst,
		const unsigned int &	jointIdLast = `-1`
	)		`[virtual]`

This method defines the part of the state vector which correspond to the free flyer of the robot.

virtual void dynamicgraph::sot::Sot::defineNbDof ( const unsigned int & nbDof ) [virtual]

Reimplemented in dynamicgraph::sot::SotH.

virtual void dynamicgraph::sot::Sot::display ( std::ostream & os ) const [virtual]

Display the stack of tasks in text mode as a tree.

Reimplemented from dynamicgraph::Entity.

virtual void dynamicgraph::sot::Sot::down ( const TaskAbstract & task ) [virtual]

This method makes the task to swap with the task having the immediate inferior priority.

virtual bool dynamicgraph::sot::Sot::exist ( const TaskAbstract & task ) [virtual]

This method allows to know if a task exists or not.

virtual const std::string& dynamicgraph::sot::Sot::getClassName ( void ) const [inline, virtual]

Returns the name of this class.

Implements dynamicgraph::Entity.

Reimplemented in dynamicgraph::sot::WeightedSot, and dynamicgraph::sot::SotH.

virtual TaskAbstract& dynamicgraph::sot::Sot::pop ( void ) [virtual]

Pop the task from the stack. This method removes the task with the smallest priority in the task. The other are projected in the null-space of their predecessors.

virtual void dynamicgraph::sot::Sot::push ( TaskAbstract & task ) [virtual]

Push the task in the stack. It has a lowest priority than the previous ones. If this is the first task, then it has the highest priority.

virtual void dynamicgraph::sot::Sot::remove ( const TaskAbstract & task ) [virtual]

Remove a task regardless to its position in the stack. It removes also the signals connected to the output signal of this stack.

virtual void dynamicgraph::sot::Sot::removeConstraint ( const Constraint & constraint ) [virtual]

Remove a constraint from the stack.

virtual void dynamicgraph::sot::Sot::removeDependency ( const TaskAbstract & key ) [virtual]

This method removes the output signals depending on this task.

static ml::Vector dynamicgraph::sot::Sot::taskVectorToMlVector ( const VectorMultiBound & taskVector ) [static]

virtual void dynamicgraph::sot::Sot::up ( const TaskAbstract & task ) [virtual]

This method makes the task to swap with the task having the immediate superior priority.

virtual std::ostream& dynamicgraph::sot::Sot::writeGraph ( std::ostream & os ) const [virtual]

This method write the priority between tasks in the output stream os.

Reimplemented from dynamicgraph::Entity.

Friends And Related Function Documentation

SOTSOT_CORE_EXPORT friend std::ostream& operator<<	(	std::ostream &	os,
		const Sot &	sot
	)		`[friend]`

Wrap the previous method around an operator.

Member Data Documentation

const std::string dynamicgraph::sot::Sot::CLASS_NAME [static]

Specify the name of the class entity.

Reimplemented in dynamicgraph::sot::WeightedSot, and dynamicgraph::sot::SotH.

ConstraintListType dynamicgraph::sot::Sot::constraintList [protected]

This field is a list of constraints managed by the stack of tasks.

SignalTimeDependent<ml::Matrix,int> dynamicgraph::sot::Sot::constraintSOUT

Allow to get the result of the Constraint projector.

SignalTimeDependent<ml::Vector,int> dynamicgraph::sot::Sot::controlSOUT

Allow to get the result of the computed control law.

const unsigned int dynamicgraph::sot::Sot::FF_JOINT_ID_DEFAULT = 0 [static, protected]

Defines a default joint.

unsigned int dynamicgraph::sot::Sot::ffJointIdFirst [protected]

Defines an interval in the state vector of the robot which is the free flyer.

unsigned int dynamicgraph::sot::Sot::ffJointIdLast [protected]

const double dynamicgraph::sot::Sot::INVERSION_THRESHOLD_DEFAULT [static]

Threshold to compute the dumped pseudo inverse.

SignalPtr<double,int> dynamicgraph::sot::Sot::inversionThresholdSIN

This signal allow to change the threshold for the damped pseudo-inverse on-line.

const unsigned int dynamicgraph::sot::Sot::NB_JOINTS_DEFAULT [static]

Number of joints by default.

unsigned int dynamicgraph::sot::Sot::nbJoints [protected]

Store the number of joints to be used in the command computed by the stack of tasks.

ml::Matrix dynamicgraph::sot::Sot::Proj [protected]

Projection used to compute the control law.

SignalPtr<ml::Vector,int> dynamicgraph::sot::Sot::q0SIN

Intrinsec velocity of the robot, that is used to initialized the recurence of the SOT (e.g. velocity comming from the other OpenHRP plugins).

bool dynamicgraph::sot::Sot::recomputeEachTime [protected]

Force the recomputation at each step.

StackType dynamicgraph::sot::Sot::stack [protected]

This field is a list of controllers managed by the stack of tasks.

TaskAbstract* dynamicgraph::sot::Sot::taskGradient [protected]

Store a pointer to compute the gradient.

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Protected Types

Protected Attributes

Static Protected Attributes

Methods to display the stack of tasks.

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation