Macros | Typedefs | Functions
sot.cpp File Reference
#include <sot/core/debug.hh>
#include <dynamic-graph/command-direct-getter.h>
#include <dynamic-graph/command-direct-setter.h>
#include <sot/core/factory.hh>
#include <sot/core/feature-posture.hh>
#include <sot/core/matrix-geometry.hh>
#include <sot/core/matrix-svd.hh>
#include <sot/core/memory-task-sot.hh>
#include <sot/core/pool.hh>
#include <sot/core/sot.hh>
#include <sot/core/task.hh>
#include "../src/sot/sot-command.h"
Include dependency graph for sot.cpp:

Go to the source code of this file.

Macros

#define sotCHRONO1
 
#define sotCOUNTER(nbc1, nbc2)
 
#define sotINIT_CHRONO1
 
#define sotINITCOUNTER(nbc1)
 
#define sotINITPARTCOUNTERS
 
#define sotPRINTCOUNTER(nbc1)
 
#define sotSTART_CHRONO1
 
#define sotSTARTPARTCOUNTERS
 

Typedefs

typedef MemoryTaskSOT::Kernel_t Kernel_t
 
typedef MemoryTaskSOT::KernelConst_t KernelConst_t
 

Functions

const MatrixcomputeJacobianActivated (TaskAbstract *Ta, Task *T, Matrix &Jmem, const int &iterTime)
 
 DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (Sot, "SOT")
 
MemoryTaskSOTgetMemory (TaskAbstract &t, const Matrix::Index &tDim, const Matrix::Index &nDof)
 
bool isFullPostureTask (Task *task, const Matrix::Index &nDof, const int &iterTime)
 
template<typename MapType , typename MatrixType >
void makeMap (MapType &map, MatrixType &m)
 
std::ostream & operator<< (std::ostream &os, const Sot &sot)
 
const Eigen::IOFormat python (Eigen::FullPrecision, 0, ", ", ",\, "[", "]", "[", "]")
 
bool updateControl (MemoryTaskSOT *mem, const Matrix::Index rankJ, bool has_kernel, const KernelConst_t &kernel, Vector &control, const double &threshold)
 

Macro Definition Documentation

◆ sotCHRONO1

#define sotCHRONO1

Definition at line 450 of file sot.cpp.

◆ sotCOUNTER

#define sotCOUNTER (   nbc1,
  nbc2 
)

Definition at line 453 of file sot.cpp.

◆ sotINIT_CHRONO1

#define sotINIT_CHRONO1

Definition at line 448 of file sot.cpp.

◆ sotINITCOUNTER

#define sotINITCOUNTER (   nbc1)

Definition at line 454 of file sot.cpp.

◆ sotINITPARTCOUNTERS

#define sotINITPARTCOUNTERS

Definition at line 451 of file sot.cpp.

◆ sotPRINTCOUNTER

#define sotPRINTCOUNTER (   nbc1)

Definition at line 455 of file sot.cpp.

◆ sotSTART_CHRONO1

#define sotSTART_CHRONO1

Definition at line 449 of file sot.cpp.

◆ sotSTARTPARTCOUNTERS

#define sotSTARTPARTCOUNTERS

Definition at line 452 of file sot.cpp.

Typedef Documentation

◆ Kernel_t

Definition at line 351 of file sot.cpp.

◆ KernelConst_t

Definition at line 352 of file sot.cpp.

Function Documentation

◆ computeJacobianActivated()

const Matrix& computeJacobianActivated ( TaskAbstract Ta,
Task T,
Matrix Jmem,
const int &  iterTime 
)

Definition at line 328 of file sot.cpp.

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN()

DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN ( Sot  ,
"SOT"   
)

◆ getMemory()

MemoryTaskSOT* getMemory ( TaskAbstract t,
const Matrix::Index tDim,
const Matrix::Index nDof 
)

Definition at line 399 of file sot.cpp.

◆ isFullPostureTask()

bool isFullPostureTask ( Task task,
const Matrix::Index nDof,
const int &  iterTime 
)

Definition at line 387 of file sot.cpp.

◆ makeMap()

template<typename MapType , typename MatrixType >
void makeMap ( MapType &  map,
MatrixType &  m 
)
inline

Definition at line 355 of file sot.cpp.

◆ operator<<()

std::ostream& operator<< ( std::ostream &  os,
const Sot sot 
)

Wrap the previous method around an operator.

Definition at line 659 of file sot.cpp.

◆ python()

const Eigen::IOFormat python ( Eigen::FullPrecision  ,
,
,
,
,
,
""  [", "],
""  [", "] 
)

◆ updateControl()

bool updateControl ( MemoryTaskSOT mem,
const Matrix::Index  rankJ,
bool  has_kernel,
const KernelConst_t kernel,
Vector control,
const double &  threshold 
)

Definition at line 361 of file sot.cpp.



sot-core
Author(s): Olivier Stasse, ostasse@laas.fr
autogenerated on Wed Jun 21 2023 02:51:27