dynamicgraph::sot::Task Class Reference

#include <sot/core/task.hh>

Inheritance diagram for dynamicgraph::sot::Task:

List of all members.

Public Types
typedef std::list < FeatureAbstract * >	FeatureList_t
Public Member Functions
	Task (const std::string &n)
void	initCommands (void)
void	addFeature (FeatureAbstract &s)
void	addFeatureFromName (const std::string &name)
void	clearFeatureList (void)
FeatureList_t &	getFeatureList (void)
void	setControlSelection (const Flags &act)
void	addControlSelection (const Flags &act)
void	clearControlSelection (void)
void	setWithDerivative (const bool &s)
bool	getWithDerivative (void)
ml::Vector &	computeError (ml::Vector &error, int time)
VectorMultiBound &	computeTaskExponentialDecrease (VectorMultiBound &errorRef, int time)
ml::Matrix &	computeJacobian (ml::Matrix &J, int time)
ml::Vector &	computeErrorTimeDerivative (ml::Vector &res, int time)
void	display (std::ostream &os) const
virtual void	commandLine (const std::string &cmdLine, std::istringstream &cmdArgs, std::ostream &os)
virtual std::ostream &	writeGraph (std::ostream &os) const
Public Attributes
dg::SignalPtr< double, int >	controlGainSIN
dg::SignalPtr< double, int >	dampingGainSINOUT
dg::SignalPtr< Flags, int >	controlSelectionSIN
dg::SignalTimeDependent < ml::Vector, int >	errorSOUT
dg::SignalTimeDependent < ml::Vector, int >	errorTimeDerivativeSOUT
Protected Member Functions
	DYNAMIC_GRAPH_ENTITY_DECL ()
Protected Attributes
FeatureList_t	featureList
bool	withDerivative

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Member Typedef Documentation

typedef std::list< FeatureAbstract* > dynamicgraph::sot::Task::FeatureList_t

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Constructor & Destructor Documentation

dynamicgraph::sot::Task::Task

(

const std::string &

n

)

---

Member Function Documentation

void dynamicgraph::sot::Task::addControlSelection

(

const Flags &

act

)

void dynamicgraph::sot::Task::addFeature

(

FeatureAbstract &

s

)

void dynamicgraph::sot::Task::addFeatureFromName

(

const std::string &

name

)

void dynamicgraph::sot::Task::clearControlSelection

(

void

)

void dynamicgraph::sot::Task::clearFeatureList

(

void

)

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

Reimplemented from dynamicgraph::sot::TaskAbstract.

Reimplemented in dynamicgraph::sot::TaskConti, and dynamicgraph::sot::TaskPD.

ml::Vector& dynamicgraph::sot::Task::computeError	(	ml::Vector &	error,
		int	time
	)

ml::Vector& dynamicgraph::sot::Task::computeErrorTimeDerivative	(	ml::Vector &	res,
		int	time
	)

ml::Matrix& dynamicgraph::sot::Task::computeJacobian	(	ml::Matrix &	J,
		int	time
	)

VectorMultiBound& dynamicgraph::sot::Task::computeTaskExponentialDecrease	(	VectorMultiBound &	errorRef,
		int	time
	)

void dynamicgraph::sot::Task::display

(

std::ostream &

os

)

const [virtual]

Reimplemented from dynamicgraph::Entity.

Reimplemented in dynamicgraph::sot::TaskConti, and dynamicgraph::sot::TaskUnilateral.

dynamicgraph::sot::Task::DYNAMIC_GRAPH_ENTITY_DECL

(

)

[protected]

FeatureList_t& dynamicgraph::sot::Task::getFeatureList

(

void

)

[inline]

bool dynamicgraph::sot::Task::getWithDerivative

(

void

)

void dynamicgraph::sot::Task::initCommands

(

void

)

void dynamicgraph::sot::Task::setControlSelection

(

const Flags &

act

)

void dynamicgraph::sot::Task::setWithDerivative

(

const bool &

s

)

virtual std::ostream& dynamicgraph::sot::Task::writeGraph

(

std::ostream &

os

)

const [virtual]

Reimplemented from dynamicgraph::Entity.

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Member Data Documentation

dg::SignalPtr< double,int > dynamicgraph::sot::Task::controlGainSIN

dg::SignalPtr< Flags,int > dynamicgraph::sot::Task::controlSelectionSIN

dg::SignalPtr< double,int > dynamicgraph::sot::Task::dampingGainSINOUT

dg::SignalTimeDependent< ml::Vector,int > dynamicgraph::sot::Task::errorSOUT

dg::SignalTimeDependent< ml::Vector,int > dynamicgraph::sot::Task::errorTimeDerivativeSOUT

FeatureList_t dynamicgraph::sot::Task::featureList [protected]

Reimplemented in dynamicgraph::sot::TaskUnilateral.

bool dynamicgraph::sot::Task::withDerivative [protected]