#include <task-abstract.hh>
Inheritance diagram for dynamicgraph::sot::TaskAbstract:
Classes | |
| class | MemoryTaskAbstract |
Public Member Functions | |
| TaskAbstract (const std::string &n) | |
 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) | |
| 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 std::ostream & | writeGraph (std::ostream &os) const |
| virtual | ~Entity () |
Protected Member Functions | |
| 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) |
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 Attributes inherited from dynamicgraph::Entity | |
| CommandMap_t | commandMap |
| Logger | logger_ |
| std::string | name |
| SignalMap | signalMap |
Detailed Description
Hierarchical element of the stack of tasks.
A task computes a value and a Jacobian as output signals. Once stacked into a solver, the solver will compute the control vector that makes the task values converge toward zero in the order defined by the priority levels.
Task diagram: Task types derive from
TaskAbstract. The value and Jacobian of a Task are computed from the features that are stored in the task.
Definition at line 51 of file task-abstract.hh.
Constructor & Destructor Documentation
◆ TaskAbstract()
| TaskAbstract::TaskAbstract | ( | const std::string & | n | ) |
Definition at line 25 of file task-abstract.cpp.
Member Function Documentation
◆ taskRegistration()
|
protected |
Definition at line 34 of file task-abstract.cpp.
Member Data Documentation
◆ jacobianSOUT
| dynamicgraph::SignalTimeDependent<dynamicgraph::Matrix, sigtime_t> dynamicgraph::sot::TaskAbstract::jacobianSOUT |
Definition at line 80 of file task-abstract.hh.
◆ memoryInternal
| MemoryTaskAbstract* dynamicgraph::sot::TaskAbstract::memoryInternal |
Definition at line 69 of file task-abstract.hh.
◆ taskSOUT
| dynamicgraph::SignalTimeDependent<VectorMultiBound, sigtime_t> dynamicgraph::sot::TaskAbstract::taskSOUT |
Definition at line 78 of file task-abstract.hh.
The documentation for this class was generated from the following files: