task-abstract.hh

Go to the documentation of this file.

/*
 * Copyright 2010,
 * François Bleibel,
 * Olivier Stasse,
 *
 * CNRS/AIST
 *
 */

#ifndef __SOT_TASKABSTRACT_H__
#define __SOT_TASKABSTRACT_H__

/* --------------------------------------------------------------------- */
/* --- INCLUDE --------------------------------------------------------- */
/* --------------------------------------------------------------------- */

/* Matrix */
#include <dynamic-graph/linear-algebra.h>

#include <Eigen/SVD>

/* STD */
#include <string>

/* SOT */
#include <dynamic-graph/all-signals.h>
#include <dynamic-graph/entity.h>

#include <sot/core/multi-bound.hh>

#include "sot/core/api.hh"

/* --------------------------------------------------------------------- */
/* --- CLASS ----------------------------------------------------------- */
/* --------------------------------------------------------------------- */

namespace dynamicgraph {
namespace sot {


class SOT_CORE_EXPORT TaskAbstract : public dynamicgraph::Entity {
 public:
  /* Use a derivative of this class to store computational memory. */
  class MemoryTaskAbstract {
   public:
    int timeLastChange;

   public:
    MemoryTaskAbstract(void) : timeLastChange(0){};
    virtual ~MemoryTaskAbstract(void){};

   public:
    virtual void display(std::ostream &os) const = 0;
    friend std::ostream &operator<<(std::ostream &os,
                                    const MemoryTaskAbstract &tcm) {
      tcm.display(os);
      return os;
    }
  };

 public:
  MemoryTaskAbstract *memoryInternal;

 protected:
  void taskRegistration(void);

 public:
  TaskAbstract(const std::string &n);

 public: /* --- SIGNALS --- */
  dynamicgraph::SignalTimeDependent<VectorMultiBound, int> taskSOUT;
  dynamicgraph::SignalTimeDependent<dynamicgraph::Matrix, int> jacobianSOUT;
};

} /* namespace sot */
} /* namespace dynamicgraph */

#endif /* #ifndef __SOT_TASKABSTRACT_H__ */