dynamicgraph::sot::TaskAbstract Class Reference

Hierarchical element of the stack of tasks. More...

#include <sot/core/task-abstract.hh>

Inheritance diagram for dynamicgraph::sot::TaskAbstract:

List of all members.

Classes
class	MemoryTaskAbstract
Public Member Functions
	TaskAbstract (const std::string &n)
virtual void	commandLine (const std::string &cmdLine, std::istringstream &cmdArgs, std::ostream &os)
Public Attributes
MemoryTaskAbstract *	memoryInternal
dg::SignalTimeDependent < VectorMultiBound, int >	taskSOUT
dg::SignalTimeDependent < ml::Matrix, int >	jacobianSOUT
Protected Member Functions
void	taskRegistration (void)

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Detailed Description

Hierarchical element of the stack of tasks.

A task computes a value and a Jacobian as output signals. Once stacked into a solver, the solver will compute the control vector that makes the task values converge toward zero in the order defined by the priority levels.

Task diagram: Task types derive from TaskAbstract. The value and Jacobian of a Task are computed from the features that are stored in the task.

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Constructor & Destructor Documentation

dynamicgraph::sot::TaskAbstract::TaskAbstract

(

const std::string &

n

)

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Member Function Documentation

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

Reimplemented from dynamicgraph::Entity.

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

void dynamicgraph::sot::TaskAbstract::taskRegistration

(

void

)

[protected]

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Member Data Documentation

dg::SignalTimeDependent< ml::Matrix,int > dynamicgraph::sot::TaskAbstract::jacobianSOUT

MemoryTaskAbstract* dynamicgraph::sot::TaskAbstract::memoryInternal

dg::SignalTimeDependent< VectorMultiBound,int > dynamicgraph::sot::TaskAbstract::taskSOUT