This class implements the Stack of Task. It allows to deal with the priority of the controllers through the shell. More...

#include <sot.hh>

Inheritance diagram for dynamicgraph::sot::Sot:

[legend]

Public Types
typedef std::list< TaskAbstract * >	StackType
	Defines a type for a list of tasks. More...

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

Public Member Functions
virtual void	defineNbDof (const size_type &nbDof)
	This method defines the part of the state vector which correspond to the free flyer of the robot. More...

virtual const std::string &	getClassName () const
	Returns the name of this class. More...

virtual const size_type &	getNbDof () const

	Sot (const std::string &name)
	Default constructor. More...

virtual std::ostream &	writeGraph (std::ostream &os) const
	This method write the priority between tasks in the output stream os. More...

	~Sot (void)

Methods to handle the stack.
virtual const StackType &	tasks () const

virtual void	push (TaskAbstract &task)
	Push the task in the stack. It has a lowest priority than the previous ones. If this is the first task, then it has the highest priority. More...

virtual TaskAbstract &	pop (void)
	Pop the task from the stack. This method removes the task with the smallest priority in the task. The other are projected in the null-space of their predecessors. More...

virtual bool	exist (const TaskAbstract &task)
	This method allows to know if a task exists or not. More...

virtual void	remove (const TaskAbstract &task)
	Remove a task regardless to its position in the stack. It removes also the signals connected to the output signal of this stack. More...

virtual void	removeDependency (const TaskAbstract &key)
	This method removes the output signals depending on this task. More...

virtual void	up (const TaskAbstract &task)
	This method makes the task to swap with the task having the immediate superior priority. More...

virtual void	down (const TaskAbstract &task)
	This method makes the task to swap with the task having the immediate inferior priority. More...

virtual void	clear (void)
	Remove all the tasks from the stack. More...

Methods to compute the control law following the
recursive definition of the stack of tasks.
virtual dynamicgraph::Vector &	computeControlLaw (dynamicgraph::Vector &control, const sigtime_t &time)
	Compute the control law. More...

Public Member Functions inherited from dynamicgraph::Entity
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	~Entity ()

Static Public Member Functions
static void	taskVectorToMlVector (const VectorMultiBound &taskVector, Vector &err)
	Number of joints by default. More...

Public Attributes
Methods to handle signals
SignalPtr< dynamicgraph::Vector, sigtime_t >	q0SIN
	Intrinsec velocity of the robot, that is used to initialized the recurence of the SOT (e.g. velocity coming from the other OpenHRP plugins). More...

SignalPtr< dynamicgraph::Matrix, sigtime_t >	proj0SIN
	A matrix K whose columns are a base of the desired velocity. In other words, $\dot{q} = K * u$ where is the free parameter to be computed. More...

SignalPtr< double, sigtime_t >	inversionThresholdSIN
	This signal allow to change the threshold for the damped pseudo-inverse on-line. More...

SignalTimeDependent< dynamicgraph::Vector, sigtime_t >	controlSOUT
	Allow to get the result of the computed control law. More...

Static Public Attributes
static const std::string	CLASS_NAME
	Specify the name of the class entity. More...

static const double	INVERSION_THRESHOLD_DEFAULT = 1e-4
	Threshold to compute the dumped pseudo inverse. More...

Protected Attributes
bool	enablePostureTaskAcceleration
	Option to disable the computation of the SVD for the last task if this task is a Task with a single FeaturePosture. More...

double	maxControlIncrementSquaredNorm
	Maximum allowed squared norm of control increment. A task whose control increment is above this value is discarded. It defaults to `std::numeric_limits<double>::max()`. More...

size_type	nbJoints
	Store the number of joints to be used in the command computed by the stack of tasks. More...

StackType	stack
	This field is a list of controllers managed by the stack of tasks. More...

Protected Attributes inherited from dynamicgraph::Entity
CommandMap_t	commandMap

Logger	logger_

std::string	name

SignalMap	signalMap

Methods to display the stack of tasks.
virtual void	display (std::ostream &os) const

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

Additional Inherited Members
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)

Detailed Description

This class implements the Stack of Task. It allows to deal with the priority of the controllers through the shell.

Definition at line 57 of file sot.hh.

Member Typedef Documentation

◆ StackType

typedef std::list<TaskAbstract *> dynamicgraph::sot::Sot::StackType

Defines a type for a list of tasks.

Definition at line 67 of file sot.hh.

Constructor & Destructor Documentation

◆ Sot()

Sot::Sot ( const std::string & name )

Default constructor.

Definition at line 62 of file sot.cpp.

◆ ~Sot()

dynamicgraph::sot::Sot::~Sot ( void )

inline

Definition at line 104 of file sot.hh.

Member Function Documentation

◆ clear()

void Sot::clear ( void )

virtual

Remove all the tasks from the stack.

Definition at line 311 of file sot.cpp.

◆ computeControlLaw()

dynamicgraph::Vector & Sot::computeControlLaw	(	dynamicgraph::Vector &	control,
		const sigtime_t &	time
	)

virtual

Compute the control law.

Computing first the jacobian may be a little faster overall.

Definition at line 469 of file sot.cpp.

◆ defineNbDof()

void Sot::defineNbDof ( const size_type & nbDof )

virtual

This method defines the part of the state vector which correspond to the free flyer of the robot.

Definition at line 319 of file sot.cpp.

◆ display()

void Sot::display ( std::ostream & os ) const

virtual

Display the stack of tasks in text mode as a tree.

Reimplemented from dynamicgraph::Entity.

Definition at line 648 of file sot.cpp.

◆ down()

void Sot::down ( const TaskAbstract & task )

virtual

This method makes the task to swap with the task having the immediate inferior priority.

Definition at line 282 of file sot.cpp.

◆ exist()

bool Sot::exist ( const TaskAbstract & task )

virtual

This method allows to know if a task exists or not.

Definition at line 227 of file sot.cpp.

◆ getClassName()

virtual const std::string& dynamicgraph::sot::Sot::getClassName ( ) const

inlinevirtual

Returns the name of this class.

Reimplemented from dynamicgraph::Entity.

Definition at line 64 of file sot.hh.

◆ getNbDof()

virtual const size_type& dynamicgraph::sot::Sot::getNbDof ( ) const

inlinevirtual

Definition at line 152 of file sot.hh.

◆ pop()

TaskAbstract & Sot::pop ( void )

virtual

Pop the task from the stack. This method removes the task with the smallest priority in the task. The other are projected in the null-space of their predecessors.

Definition at line 219 of file sot.cpp.

◆ push()

void Sot::push ( TaskAbstract & task )

virtual

Push the task in the stack. It has a lowest priority than the previous ones. If this is the first task, then it has the highest priority.

Definition at line 210 of file sot.cpp.

◆ remove()

void Sot::remove ( const TaskAbstract & task )

virtual

Remove a task regardless to its position in the stack. It removes also the signals connected to the output signal of this stack.

Definition at line 236 of file sot.cpp.

◆ removeDependency()

void Sot::removeDependency ( const TaskAbstract & key )

virtual

This method removes the output signals depending on this task.

Definition at line 253 of file sot.cpp.

◆ tasks()

virtual const StackType& dynamicgraph::sot::Sot::tasks ( ) const

inlinevirtual

Definition at line 110 of file sot.hh.

◆ taskVectorToMlVector()

void Sot::taskVectorToMlVector	(	const VectorMultiBound &	taskVector,
		Vector &	err
	)

static

Number of joints by default.

Definition at line 458 of file sot.cpp.

◆ up()

void Sot::up ( const TaskAbstract & task )

virtual

This method makes the task to swap with the task having the immediate superior priority.

Definition at line 259 of file sot.cpp.

◆ writeGraph()

std::ostream & Sot::writeGraph ( std::ostream & os ) const

virtual

This method write the priority between tasks in the output stream os.

Reimplemented from dynamicgraph::Entity.

Definition at line 668 of file sot.cpp.

Friends And Related Function Documentation

◆ operator<<

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

friend

Wrap the previous method around an operator.

Definition at line 659 of file sot.cpp.

Member Data Documentation

◆ CLASS_NAME

const std::string dynamicgraph::sot::Sot::CLASS_NAME

static

Specify the name of the class entity.

Definition at line 60 of file sot.hh.

◆ controlSOUT

SignalTimeDependent<dynamicgraph::Vector, sigtime_t> dynamicgraph::sot::Sot::controlSOUT

Allow to get the result of the computed control law.

Definition at line 196 of file sot.hh.

◆ enablePostureTaskAcceleration

bool dynamicgraph::sot::Sot::enablePostureTaskAcceleration

protected

Option to disable the computation of the SVD for the last task if this task is a Task with a single FeaturePosture.

Definition at line 80 of file sot.hh.

◆ INVERSION_THRESHOLD_DEFAULT

const double Sot::INVERSION_THRESHOLD_DEFAULT = 1e-4

static

Threshold to compute the dumped pseudo inverse.

Definition at line 92 of file sot.hh.

◆ inversionThresholdSIN

SignalPtr<double, sigtime_t> dynamicgraph::sot::Sot::inversionThresholdSIN

This signal allow to change the threshold for the damped pseudo-inverse on-line.

Definition at line 194 of file sot.hh.

◆ maxControlIncrementSquaredNorm

double dynamicgraph::sot::Sot::maxControlIncrementSquaredNorm

protected

Maximum allowed squared norm of control increment. A task whose control increment is above this value is discarded. It defaults to std::numeric_limits<double>::max().

Warning: This is a security feature and is not a good way of adding a proper constraint on the control generated by SoT.

Definition at line 88 of file sot.hh.

◆ nbJoints

size_type dynamicgraph::sot::Sot::nbJoints

protected

Store the number of joints to be used in the command computed by the stack of tasks.

Definition at line 76 of file sot.hh.

◆ proj0SIN

SignalPtr<dynamicgraph::Matrix, sigtime_t> dynamicgraph::sot::Sot::proj0SIN

A matrix K whose columns are a base of the desired velocity. In other words, $\dot{q} = K * u$ where $ u $ is the free parameter to be computed.

Note: K should be an orthonormal matrix.

Definition at line 191 of file sot.hh.

◆ q0SIN

SignalPtr<dynamicgraph::Vector, sigtime_t> dynamicgraph::sot::Sot::q0SIN

Intrinsec velocity of the robot, that is used to initialized the recurence of the SOT (e.g. velocity coming from the other OpenHRP plugins).

Definition at line 185 of file sot.hh.

◆ stack

StackType dynamicgraph::sot::Sot::stack

protected

This field is a list of controllers managed by the stack of tasks.

Definition at line 72 of file sot.hh.

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

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Protected Attributes

Methods to display the stack of tasks.

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ StackType

Constructor & Destructor Documentation

◆ Sot()

◆ ~Sot()

Member Function Documentation

◆ clear()

◆ computeControlLaw()

◆ defineNbDof()

◆ display()

◆ down()

◆ exist()

◆ getClassName()

◆ getNbDof()

◆ pop()

◆ push()

◆ remove()

◆ removeDependency()

◆ tasks()

◆ taskVectorToMlVector()

◆ up()

◆ writeGraph()

Friends And Related Function Documentation

◆ operator<<

Member Data Documentation

◆ CLASS_NAME

◆ controlSOUT

◆ enablePostureTaskAcceleration

◆ INVERSION_THRESHOLD_DEFAULT

◆ inversionThresholdSIN

◆ maxControlIncrementSquaredNorm

◆ nbJoints

◆ proj0SIN

◆ q0SIN

◆ stack