Class that defines the basic elements of a task. More...
#include "Definition"
Public Types | |
typedef std::list< FeatureAbstract * > | FeatureList_t |
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typedef std::map< const std::string, command::Command * > | CommandMap_t |
typedef std::map< std::string, SignalBase< sigtime_t > * > | SignalMap |
Public Member Functions | |
void | addControlSelection (const Flags &act) |
void | addFeature (FeatureAbstract &s) |
void | addFeatureFromName (const std::string &name) |
void | clearControlSelection (void) |
void | clearFeatureList (void) |
dynamicgraph::Vector & | computeError (dynamicgraph::Vector &error, sigtime_t time) |
dynamicgraph::Vector & | computeErrorTimeDerivative (dynamicgraph::Vector &res, sigtime_t time) |
dynamicgraph::Matrix & | computeJacobian (dynamicgraph::Matrix &J, sigtime_t time) |
VectorMultiBound & | computeTaskExponentialDecrease (VectorMultiBound &errorRef, sigtime_t time) |
void | display (std::ostream &os) const |
FeatureList_t & | getFeatureList (void) |
bool | getWithDerivative (void) |
void | initCommands (void) |
void | setControlSelection (const Flags &act) |
void | setWithDerivative (const bool &s) |
Task (const std::string &n) | |
virtual std::ostream & | writeGraph (std::ostream &os) const |
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TaskAbstract (const std::string &n) | |
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std::ostream & | displaySignalList (std::ostream &os) const |
Entity (const std::string &name) | |
virtual const std::string & | getClassName () const |
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 () |
Protected Member Functions | |
DYNAMIC_GRAPH_ENTITY_DECL () | |
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void | taskRegistration (void) |
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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 | |
FeatureList_t | featureList |
bool | withDerivative |
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CommandMap_t | commandMap |
Logger | logger_ |
std::string | name |
SignalMap | signalMap |
Class that defines the basic elements of a task.
A task is defined as where
is a set of features and
the actuated joints of the robot.
It is assumes that . Moreover as it assumed that this task can provide:
It then possible to compute
with
, and
the desired feature and
the one currently measured.
It is possible to add features or clear the list of features. This class makes also possible to select some of the listed of features to compute the control law through setControlSelection, addControlSelection, clearControlSelection.
typedef std::list<FeatureAbstract *> dynamicgraph::sot::Task::FeatureList_t |
void Task::addFeature | ( | FeatureAbstract & | s | ) |
dynamicgraph::Vector & Task::computeError | ( | dynamicgraph::Vector & | error, |
sigtime_t | time | ||
) |
dynamicgraph::Vector & Task::computeErrorTimeDerivative | ( | dynamicgraph::Vector & | res, |
sigtime_t | time | ||
) |
dynamicgraph::Matrix & Task::computeJacobian | ( | dynamicgraph::Matrix & | J, |
sigtime_t | time | ||
) |
VectorMultiBound & Task::computeTaskExponentialDecrease | ( | VectorMultiBound & | errorRef, |
sigtime_t | time | ||
) |
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virtual |
Reimplemented from dynamicgraph::Entity.
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protected |
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inline |
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virtual |
Reimplemented from dynamicgraph::Entity.
dynamicgraph::SignalPtr<double, sigtime_t> dynamicgraph::sot::Task::controlGainSIN |
dynamicgraph::SignalPtr<Flags, sigtime_t> dynamicgraph::sot::Task::controlSelectionSIN |
dynamicgraph::SignalPtr<double, sigtime_t> dynamicgraph::sot::Task::dampingGainSINOUT |
dynamicgraph::SignalTimeDependent<dynamicgraph::Vector, sigtime_t> dynamicgraph::sot::Task::errorSOUT |
dynamicgraph::SignalTimeDependent<dynamicgraph::Vector, sigtime_t> dynamicgraph::sot::Task::errorTimeDerivativeSOUT |
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protected |