dynamicgraph::sot::Integrator Class Reference

#include <integrator.hh>

Inheritance diagram for dynamicgraph::sot::Integrator:

Public Member Functions
virtual const std::string &	getClassName (void) const
::pinocchio::Model *	getModel ()
	Integrator (const std::string &name)
PeriodicCall &	periodicCallAfter ()
PeriodicCall &	periodicCallBefore ()
void	setInitialConfig (const Vector &initConfig)
void	setModel (::pinocchio::Model *model)
Public Member Functions inherited from dynamicgraph::Entity
virtual void	display (std::ostream &os) const
std::ostream &	displaySignalList (std::ostream &os) const
	Entity (const std::string &name)
const std::string &	getCommandList () const
virtual std::string	getDocString () const
LoggerVerbosity	getLoggerVerbosityLevel ()
LoggerVerbosity	getLoggerVerbosityLevel ()
const std::string &	getName () const
command::Command *	getNewStyleCommand (const std::string &cmdName)
CommandMap_t	getNewStyleCommandMap ()
SignalBase< sigtime_t > &	getSignal (const std::string &signalName)
const SignalBase< sigtime_t > &	getSignal (const std::string &signalName) const
SignalMap	getSignalMap () const
double	getStreamPrintPeriod ()
double	getStreamPrintPeriod ()
double	getTimeSample ()
double	getTimeSample ()
bool	hasSignal (const std::string &signame) const
Logger &	logger ()
Logger &	logger ()
const Logger &	logger () const
const Logger &	logger () const
void	sendMsg (const std::string &msg, MsgType t=MSG_TYPE_INFO, const std::string &lineId="")
void	sendMsg (const std::string &msg, MsgType t=MSG_TYPE_INFO, const std::string &lineId="")
void	setLoggerVerbosityLevel (LoggerVerbosity lv)
void	setLoggerVerbosityLevel (LoggerVerbosity lv)
bool	setStreamPrintPeriod (double t)
bool	setStreamPrintPeriod (double t)
bool	setTimeSample (double t)
bool	setTimeSample (double t)
virtual SignalBase< sigtime_t > *	test ()
virtual void	test2 (SignalBase< sigtime_t > *)
virtual std::ostream &	writeCompletionList (std::ostream &os) const
virtual std::ostream &	writeGraph (std::ostream &os) const
virtual	~Entity ()

Static Public Attributes
static const std::string	CLASS_NAME
static const double	dt = 1e-6

Private Member Functions
Vector &	integrate (Vector &configuration, sigtime_t time)

Private Attributes
Vector	configuration_
internal::Signal	configurationSOUT_
sigtime_t	lastComputationTime_
::pinocchio::Model *	model_
PeriodicCall	periodicCallAfter_
PeriodicCall	periodicCallBefore_
sigtime_t	recursivityLevel_
SignalPtr< Vector, sigtime_t >	velocitySIN_

Additional Inherited Members
Public Types inherited from dynamicgraph::Entity
typedef std::map< const std::string, command::Command * >	CommandMap_t
typedef std::map< std::string, SignalBase< sigtime_t > * >	SignalMap
Protected Member Functions inherited from dynamicgraph::Entity
void	addCommand (const std::string &name, command::Command *command)
void	entityDeregistration ()
void	entityRegistration ()
void	signalDeregistration (const std::string &name)
void	signalRegistration (const SignalArray< sigtime_t > &signals)
Protected Attributes inherited from dynamicgraph::Entity
CommandMap_t	commandMap
Logger	logger_
std::string	name
SignalMap	signalMap

Detailed Description

Definition at line 114 of file integrator.hh.

Constructor & Destructor Documentation

Integrator()

dynamicgraph::sot::Integrator::Integrator

(

const std::string &

name

)

Definition at line 136 of file integrator.cpp.

Member Function Documentation

getClassName()

virtual const std::string& dynamicgraph::sot::Integrator::getClassName ( void  ) const

inlinevirtual

Reimplemented from dynamicgraph::Entity.

Definition at line 119 of file integrator.hh.

getModel()

pinocchio::Model * dynamicgraph::sot::Integrator::getModel

(

)

Definition at line 151 of file integrator.cpp.

integrate()

Vector & dynamicgraph::sot::Integrator::integrate ( Vector &  configuration, sigtime_t  time  )

private

Definition at line 163 of file integrator.cpp.

periodicCallAfter()

PeriodicCall& dynamicgraph::sot::Integrator::periodicCallAfter ( )

inline

Definition at line 130 of file integrator.hh.

periodicCallBefore()

PeriodicCall& dynamicgraph::sot::Integrator::periodicCallBefore ( )

inline

Definition at line 129 of file integrator.hh.

setInitialConfig()

void dynamicgraph::sot::Integrator::setInitialConfig

(

const Vector &

initConfig

)

Definition at line 159 of file integrator.cpp.

setModel()

void dynamicgraph::sot::Integrator::setModel

(

::pinocchio::Model *

model

)

Definition at line 153 of file integrator.cpp.

Member Data Documentation

CLASS_NAME

const std::string dynamicgraph::sot::Integrator::CLASS_NAME

static

Definition at line 118 of file integrator.hh.

configuration_

Vector dynamicgraph::sot::Integrator::configuration_

private

Definition at line 142 of file integrator.hh.

configurationSOUT_

internal::Signal dynamicgraph::sot::Integrator::configurationSOUT_

private

Definition at line 139 of file integrator.hh.

dt

const double dynamicgraph::sot::Integrator::dt = 1e-6

static

Definition at line 117 of file integrator.hh.

lastComputationTime_

sigtime_t dynamicgraph::sot::Integrator::lastComputationTime_

private

Definition at line 143 of file integrator.hh.

model_

::pinocchio::Model* dynamicgraph::sot::Integrator::model_

private

Definition at line 141 of file integrator.hh.

periodicCallAfter_

PeriodicCall dynamicgraph::sot::Integrator::periodicCallAfter_

private

Definition at line 134 of file integrator.hh.

periodicCallBefore_

PeriodicCall dynamicgraph::sot::Integrator::periodicCallBefore_

private

Definition at line 133 of file integrator.hh.

recursivityLevel_

sigtime_t dynamicgraph::sot::Integrator::recursivityLevel_

private

Definition at line 144 of file integrator.hh.

velocitySIN_

SignalPtr<Vector, sigtime_t> dynamicgraph::sot::Integrator::velocitySIN_

private

Definition at line 138 of file integrator.hh.

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The documentation for this class was generated from the following files:

• integrator.hh
• integrator.cpp