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

Inheritance diagram for dynamicgraph::sot::SotQr:

Public Member Functions
virtual const std::string &	getClassName (void) const
	Returns the name of this class.
	SotQr (const std::string &name)
	Default constructor.
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	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.
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.
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.
bool	exist (const TaskAbstract &task)
	This method allows to know if a task exists or not.
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.
void	removeDependency (const TaskAbstract &key)
	This method removes the output signals depending on this task.
void	up (const TaskAbstract &task)
	This method makes the task to swap with the task having the immediate superior priority.
void	down (const TaskAbstract &task)
	This method makes the task to swap with the task having the immediate inferior priority.
void	clear (void)
	Remove all the tasks from the stack.
Methods to handle the constraints.
void	addConstraint (Constraint &constraint)
	Add a constraint to the stack with the current level of priority.
void	removeConstraint (const Constraint &constraint)
	Remove a constraint from the stack.
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.
ml::Vector &	computeControlLaw (ml::Vector &control, const int &time)
	Compute the control law.
ml::Matrix &	computeConstraintProjector (ml::Matrix &Proj, const int &time)
	Compute the projector of the constraint.
Public Attributes
Methods to handle signals
dg::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).
dg::SignalPtr< double, int >	inversionThresholdSIN
	This signal allow to change the threshold for the damped pseudo-inverse on-line.
dg::SignalTimeDependent < ml::Matrix, int >	constraintSOUT
	This signal allow to get the result of the Constraint projector.
dg::SignalTimeDependent < ml::Vector, int >	controlSOUT
	This signal 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
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
SOTSOTQR_EXPORT friend std::ostream &	operator<< (std::ostream &os, const SotQr &sot)

Member Typedef Documentation

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

Defines a type for a list of constraints.

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

Defines a type for a list of tasks.

Constructor & Destructor Documentation

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

Default constructor.

Member Function Documentation

void dynamicgraph::sot::SotQr::addConstraint ( Constraint & constraint )

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

void dynamicgraph::sot::SotQr::clear ( void )

Remove all the tasks from the stack.

void dynamicgraph::sot::SotQr::clearConstraint ( void )

Remove all the constraints from the stack.

virtual void dynamicgraph::sot::SotQr::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.

ml::Matrix& dynamicgraph::sot::SotQr::computeConstraintProjector	(	ml::Matrix &	Proj,
		const int &	time
	)

Compute the projector of the constraint.

ml::Vector& dynamicgraph::sot::SotQr::computeControlLaw	(	ml::Vector &	control,
		const int &	time
	)

Compute the control law.

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

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

Reimplemented from dynamicgraph::Entity.

void dynamicgraph::sot::SotQr::down ( const TaskAbstract & task )

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

bool dynamicgraph::sot::SotQr::exist ( const TaskAbstract & task )

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

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

Returns the name of this class.

Implements dynamicgraph::Entity.

TaskAbstract& dynamicgraph::sot::SotQr::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.

void dynamicgraph::sot::SotQr::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.

void dynamicgraph::sot::SotQr::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.

void dynamicgraph::sot::SotQr::removeConstraint ( const Constraint & constraint )

Remove a constraint from the stack.

void dynamicgraph::sot::SotQr::removeDependency ( const TaskAbstract & key )

This method removes the output signals depending on this task.

void dynamicgraph::sot::SotQr::up ( const TaskAbstract & task )

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

virtual std::ostream& dynamicgraph::sot::SotQr::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

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

Wrap the previous method around an operator.

Member Data Documentation

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

Specify the name of the class entity.

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

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

dg::SignalTimeDependent<ml::Matrix,int> dynamicgraph::sot::SotQr::constraintSOUT

This signal allow to get the result of the Constraint projector.

dg::SignalTimeDependent<ml::Vector,int> dynamicgraph::sot::SotQr::controlSOUT

This signal allow to get the result of the computed control law.

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

Defines a default joint.

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

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

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

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

Threshold to compute the dumped pseudo inverse.

dg::SignalPtr<double,int> dynamicgraph::sot::SotQr::inversionThresholdSIN

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

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

Number of joints by default.

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

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

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

Projection used to compute the control law.

dg::SignalPtr<ml::Vector,int> dynamicgraph::sot::SotQr::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).

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

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

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

Store a pointer to compute the gradient.

Public Member Functions

Public Attributes

Static Public Attributes

Protected Types

Protected Attributes

Static Protected Attributes

Methods to display the stack of tasks.

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation