BenchmarkTaskVaryingInitialState. More...

#include <benchmark_task_varying_initial_state.h>

Inheritance diagram for corbo::BenchmarkTaskVaryingInitialState:

Public Types
using	Ptr = std::shared_ptr< BenchmarkTaskVaryingInitialState >

Public Types inherited from corbo::TaskInterface
using	Ptr = std::shared_ptr< TaskInterface >

Public Member Functions
	BenchmarkTaskVaryingInitialState ()
	Default constructor. More...

void	getAvailableSignals (const Environment &environment, SignalTargetInterface &signal_target, const std::string &ns="") const override
	Retrieve available signals from the task. More...

TaskInterface::Ptr	getInstance () const override
	Return a newly created shared instance of the implemented class. More...

void	performTask (Environment &environment, SignalTargetInterface signal_target=nullptr, std::string msg=nullptr, const std::string &ns="") override
	Perform task. More...

void	reset () override
	Reset task state. More...

bool	verify (const Environment &environment, std::string *msg=nullptr) const override
	Check if the environment and other settings satisfy all requirements for the given task. More...

Public Member Functions inherited from corbo::TaskInterface
virtual	~TaskInterface ()
	Virtuel destructor. More...

Private Attributes
TaskInterface::Ptr	_main_task

double	_wait_time = 0

double	_x01_end = 0

int	_x01_n = 2

double	_x01_start = 0

double	_x02_end = 0

int	_x02_n = 2

double	_x02_start = 0

Eigen::VectorXd	_x0_default

Detailed Description

BenchmarkTaskVaryingInitialState.

See also: TaskInterface Environment

Author: Christoph Rösmann (chris.nosp@m.toph.nosp@m..roes.nosp@m.mann.nosp@m.@tu-d.nosp@m.ortm.nosp@m.und.d.nosp@m.e)

Definition at line 46 of file benchmark_task_varying_initial_state.h.

Member Typedef Documentation

◆ Ptr

using corbo::BenchmarkTaskVaryingInitialState::Ptr = std::shared_ptr<BenchmarkTaskVaryingInitialState>

Definition at line 49 of file benchmark_task_varying_initial_state.h.

Constructor & Destructor Documentation

◆ BenchmarkTaskVaryingInitialState()

corbo::BenchmarkTaskVaryingInitialState::BenchmarkTaskVaryingInitialState ( )

Default constructor.

Definition at line 42 of file benchmark_task_varying_initial_state.cpp.

Member Function Documentation

◆ getAvailableSignals()

void corbo::BenchmarkTaskVaryingInitialState::getAvailableSignals	(	const Environment &	environment,
		SignalTargetInterface &	signal_target,
		const std::string &	ns = `""`
	)		const

overridevirtual

Retrieve available signals from the task.

Register a-priori known signals at the signal target. Registration is optional. Note, during performTask() further signals might occur without registration (in case the they are not known in advance or the implementation lacks a proper registration).

Parameters

[in,out] signal_target Target for occuring signals [optional]

Reimplemented from corbo::TaskInterface.

Definition at line 44 of file benchmark_task_varying_initial_state.cpp.

◆ getInstance()

TaskInterface::Ptr corbo::BenchmarkTaskVaryingInitialState::getInstance ( ) const

inlineoverridevirtual

Return a newly created shared instance of the implemented class.

Implements corbo::TaskInterface.

Definition at line 55 of file benchmark_task_varying_initial_state.h.

◆ performTask()

void corbo::BenchmarkTaskVaryingInitialState::performTask	(	Environment &	environment,
		SignalTargetInterface *	signal_target = `nullptr`,
		std::string *	msg = `nullptr`,
		const std::string &	ns = `""`
	)

overridevirtual

Perform task.

Parameters

[in]	environment	Standard environment (plant, controller, observer)
[in,out]	signal_target	Target for occuring signals [optional]

Implements corbo::TaskInterface.

Definition at line 49 of file benchmark_task_varying_initial_state.cpp.

◆ reset()

void corbo::BenchmarkTaskVaryingInitialState::reset ( )

overridevirtual

Reset task state.

Implements corbo::TaskInterface.

Definition at line 136 of file benchmark_task_varying_initial_state.cpp.

◆ verify()

bool corbo::BenchmarkTaskVaryingInitialState::verify	(	const Environment &	environment,
		std::string *	msg = `nullptr`
	)		const

overridevirtual

Check if the environment and other settings satisfy all requirements for the given task.

This function can be called in order to check if all components and models are appropriate, e.g. if all input and output dimensions are chosen adequately.

Note, Environment::verify() might be invoked in order to check if controller, plant and observer are specified correctly and if they have matching dimensions.

Parameters