dynamicgraph::sot::SotH Class Reference

#include <sot/core/sot-h.hh>

Inheritance diagram for dynamicgraph::sot::SotH:

List of all members.

Classes
class	MemoryTaskSOTH
Public Member Functions
virtual const std::string &	getClassName (void) const
	Returns the name of this class.
	SotH (const std::string &name)
	Default constructor.
	~SotH (void)
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 void	defineNbDof (const unsigned int &nbDof)
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.
Static Public Attributes
static const std::string	CLASS_NAME
	Specify the name of the class entity.
Protected Attributes
sotRotationComposedInExtenso	Qh
bubMatrix	Rh
SolverHierarchicalInequalities::ConstraintList	constraintH
SolverHierarchicalInequalities	solverNorm
SolverHierarchicalInequalities *	solverPrec
bool	fillMemorySignal

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Constructor & Destructor Documentation

dynamicgraph::sot::SotH::SotH

(

const std::string &

name

)

Default constructor.

dynamicgraph::sot::SotH::~SotH

(

void

)

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Member Function Documentation

virtual void dynamicgraph::sot::SotH::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::sot::Sot.

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

Compute the control law.

Reimplemented from dynamicgraph::sot::Sot.

virtual void dynamicgraph::sot::SotH::defineNbDof

(

const unsigned int &

nbDof

)

[virtual]

Reimplemented from dynamicgraph::sot::Sot.

virtual const std::string& dynamicgraph::sot::SotH::getClassName

(

void

)

const [inline, virtual]

Returns the name of this class.

Reimplemented from dynamicgraph::sot::Sot.

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Member Data Documentation

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

Specify the name of the class entity.

Reimplemented from dynamicgraph::sot::Sot.

SolverHierarchicalInequalities::ConstraintList dynamicgraph::sot::SotH::constraintH [protected]

bool dynamicgraph::sot::SotH::fillMemorySignal [protected]

sotRotationComposedInExtenso dynamicgraph::sot::SotH::Qh [protected]

bubMatrix dynamicgraph::sot::SotH::Rh [protected]

SolverHierarchicalInequalities dynamicgraph::sot::SotH::solverNorm [protected]

SolverHierarchicalInequalities* dynamicgraph::sot::SotH::solverPrec [protected]