dynamicgraph::sot::WeightedSot Class Reference

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

Inheritance diagram for dynamicgraph::sot::WeightedSot:

List of all members.

Public Member Functions
virtual const std::string &	getClassName (void) const
	Returns the name of this class.
	WeightedSot (const std::string &name)
	Default constructor.
Methods to compute the control law following the
recursive definition of the stack of tasks.
ml::Matrix &	computeSquareRootInvWeight (ml::Matrix &res, const int &time)
	Compute the control law using weighted inverse.
ml::Vector &	computeWeightedControlLaw (ml::Vector &control, const int &time)
ml::Matrix &	computeConstrainedWeight (ml::Matrix &KAK, const int &time)
Public Attributes
Methods to handle signals
dg::SignalPtr< ml::Matrix, int >	weightSIN
dg::SignalTimeDependent < ml::Matrix, int >	constrainedWeightSOUT
dg::SignalPtr< ml::Matrix, int >	constrainedWeightSIN
dg::SignalTimeDependent < ml::Matrix, int >	squareRootInvWeightSOUT
dg::SignalPtr< ml::Matrix, int >	squareRootInvWeightSIN
Static Public Attributes
static const std::string	CLASS_NAME
	Specify the name of the class entity.

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Constructor & Destructor Documentation

dynamicgraph::sot::WeightedSot::WeightedSot

(

const std::string &

name

)

Default constructor.

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Member Function Documentation

ml::Matrix& dynamicgraph::sot::WeightedSot::computeConstrainedWeight	(	ml::Matrix &	KAK,
		const int &	time
	)

ml::Matrix& dynamicgraph::sot::WeightedSot::computeSquareRootInvWeight	(	ml::Matrix &	res,
		const int &	time
	)

Compute the control law using weighted inverse.

ml::Vector& dynamicgraph::sot::WeightedSot::computeWeightedControlLaw	(	ml::Vector &	control,
		const int &	time
	)

virtual const std::string& dynamicgraph::sot::WeightedSot::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::WeightedSot::CLASS_NAME [static]

Specify the name of the class entity.

Reimplemented from dynamicgraph::sot::Sot.

dg::SignalPtr<ml::Matrix,int> dynamicgraph::sot::WeightedSot::constrainedWeightSIN

dg::SignalTimeDependent<ml::Matrix,int> dynamicgraph::sot::WeightedSot::constrainedWeightSOUT

dg::SignalPtr<ml::Matrix,int> dynamicgraph::sot::WeightedSot::squareRootInvWeightSIN

dg::SignalTimeDependent<ml::Matrix,int> dynamicgraph::sot::WeightedSot::squareRootInvWeightSOUT

dg::SignalPtr<ml::Matrix,int> dynamicgraph::sot::WeightedSot::weightSIN