Class that defines the basic elements of a task. More...

#include "Definition"

Inheritance diagram for dynamicgraph::sot::Task:

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Public Types
typedef std::list< FeatureAbstract * >	FeatureList_t

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
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

Public Member Functions inherited from dynamicgraph::sot::TaskAbstract
	TaskAbstract (const std::string &n)

Public Member Functions inherited from dynamicgraph::Entity
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 ()

Protected Member Functions inherited from dynamicgraph::sot::TaskAbstract
void	taskRegistration (void)

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
FeatureList_t	featureList

bool	withDerivative

Protected Attributes inherited from dynamicgraph::Entity
CommandMap_t	commandMap

Logger	logger_

std::string	name

SignalMap	signalMap

Detailed Description

Class that defines the basic elements of a task.

A task is defined as ${\bf s} ={\bf e}({\bf q})$ where ${\bf s}$ is a set of features and ${\bf q}$ the actuated joints of the robot.
It is assumes that $\dot{\bf e} = - \lambda {\bf e}$ . Moreover as it assumed that this task can provide: ${\bf J} = \frac{\delta f}{\delta {\bf q}}$ It then possible to compute $\dot{\bf q} = -\lambda {\bf J}^{\#} \dot{\bf e}$ with $\dot{\bf e} = {\bf s}^{des} - {\bf s}^*$ , and ${\bf s}^{des}$ the desired feature and ${\bf s}^*$ 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.

Definition at line 72 of file task.hh.

Member Typedef Documentation

◆ FeatureList_t

typedef std::list<FeatureAbstract *> dynamicgraph::sot::Task::FeatureList_t

Definition at line 74 of file task.hh.

Constructor & Destructor Documentation

◆ Task()

Task::Task ( const std::string & n )

Definition at line 34 of file task.cpp.

Member Function Documentation

◆ addControlSelection()

void Task::addControlSelection ( const Flags & act )

Definition at line 135 of file task.cpp.

◆ addFeature()

void Task::addFeature ( FeatureAbstract & s )

Definition at line 109 of file task.cpp.

◆ addFeatureFromName()

void Task::addFeatureFromName ( const std::string & name )

Definition at line 116 of file task.cpp.

◆ clearControlSelection()

void Task::clearControlSelection ( void )

Definition at line 140 of file task.cpp.

◆ clearFeatureList()

void Task::clearFeatureList ( void )

Definition at line 122 of file task.cpp.

◆ computeError()

dynamicgraph::Vector & Task::computeError	(	dynamicgraph::Vector &	error,
		sigtime_t	time
	)

Definition at line 149 of file task.cpp.

◆ computeErrorTimeDerivative()

dynamicgraph::Vector & Task::computeErrorTimeDerivative	(	dynamicgraph::Vector &	res,
		sigtime_t	time
	)

Definition at line 215 of file task.cpp.

◆ computeJacobian()

dynamicgraph::Matrix & Task::computeJacobian	(	dynamicgraph::Matrix &	J,
		sigtime_t	time
	)

Definition at line 253 of file task.cpp.

◆ computeTaskExponentialDecrease()

VectorMultiBound & Task::computeTaskExponentialDecrease	(	VectorMultiBound &	errorRef,
		sigtime_t	time
	)

Definition at line 233 of file task.cpp.

◆ display()

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

virtual

Reimplemented from dynamicgraph::Entity.

Definition at line 321 of file task.cpp.

◆ DYNAMIC_GRAPH_ENTITY_DECL()

dynamicgraph::sot::Task::DYNAMIC_GRAPH_ENTITY_DECL ( )

protected

◆ getFeatureList()

FeatureList_t& dynamicgraph::sot::Task::getFeatureList ( void )

inline

Definition at line 89 of file task.hh.

◆ getWithDerivative()

bool Task::getWithDerivative ( void )

Definition at line 143 of file task.cpp.

◆ initCommands()

void Task::initCommands ( void )

Definition at line 69 of file task.cpp.

◆ setControlSelection()

void Task::setControlSelection ( const Flags & act )

Definition at line 134 of file task.cpp.

◆ setWithDerivative()

void Task::setWithDerivative ( const bool & s )

Definition at line 142 of file task.cpp.

◆ writeGraph()

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

virtual

Reimplemented from dynamicgraph::Entity.

Definition at line 331 of file task.cpp.

Member Data Documentation

◆ controlGainSIN

dynamicgraph::SignalPtr<double, sigtime_t> dynamicgraph::sot::Task::controlGainSIN

Definition at line 110 of file task.hh.

◆ controlSelectionSIN

dynamicgraph::SignalPtr<Flags, sigtime_t> dynamicgraph::sot::Task::controlSelectionSIN

Definition at line 112 of file task.hh.

◆ dampingGainSINOUT

dynamicgraph::SignalPtr<double, sigtime_t> dynamicgraph::sot::Task::dampingGainSINOUT

Definition at line 111 of file task.hh.

◆ errorSOUT

dynamicgraph::SignalTimeDependent<dynamicgraph::Vector, sigtime_t> dynamicgraph::sot::Task::errorSOUT

Definition at line 113 of file task.hh.

◆ errorTimeDerivativeSOUT

dynamicgraph::SignalTimeDependent<dynamicgraph::Vector, sigtime_t> dynamicgraph::sot::Task::errorTimeDerivativeSOUT

Definition at line 115 of file task.hh.

◆ featureList

FeatureList_t dynamicgraph::sot::Task::featureList

protected

Definition at line 77 of file task.hh.

◆ withDerivative

bool dynamicgraph::sot::Task::withDerivative

protected

Definition at line 78 of file task.hh.

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

Public Attributes
dynamicgraph::SignalPtr< double, sigtime_t >	controlGainSIN

dynamicgraph::SignalPtr< Flags, sigtime_t >	controlSelectionSIN

dynamicgraph::SignalPtr< double, sigtime_t >	dampingGainSINOUT

dynamicgraph::SignalTimeDependent< dynamicgraph::Vector, sigtime_t >	errorSOUT

dynamicgraph::SignalTimeDependent< dynamicgraph::Vector, sigtime_t >	errorTimeDerivativeSOUT

Public Attributes inherited from dynamicgraph::sot::TaskAbstract
dynamicgraph::SignalTimeDependent< dynamicgraph::Matrix, sigtime_t >	jacobianSOUT

MemoryTaskAbstract *	memoryInternal

dynamicgraph::SignalTimeDependent< VectorMultiBound, sigtime_t >	taskSOUT

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ FeatureList_t

Constructor & Destructor Documentation

◆ Task()

Member Function Documentation

◆ addControlSelection()

◆ addFeature()

◆ addFeatureFromName()

◆ clearControlSelection()

◆ clearFeatureList()

◆ computeError()

◆ computeErrorTimeDerivative()

◆ computeJacobian()

◆ computeTaskExponentialDecrease()

◆ display()

◆ DYNAMIC_GRAPH_ENTITY_DECL()

◆ getFeatureList()

◆ getWithDerivative()

◆ initCommands()

◆ setControlSelection()

◆ setWithDerivative()

◆ writeGraph()

Member Data Documentation

◆ controlGainSIN

◆ controlSelectionSIN

◆ dampingGainSINOUT

◆ errorSOUT

◆ errorTimeDerivativeSOUT

◆ featureList

◆ withDerivative