#include <task-conti.hh>

Inheritance diagram for dynamicgraph::sot::TaskConti:

[legend]

Public Member Functions
VectorMultiBound &	computeContiDesiredVelocity (VectorMultiBound &task, const sigtime_t &time)

void	display (std::ostream &os) const

virtual const std::string &	getClassName (void) const

void	referenceTime (const sigtime_t &t)

const sigtime_t &	referenceTime (void)

	TaskConti (const std::string &n)

Public Member Functions inherited from dynamicgraph::sot::Task
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)

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 ()

Public Attributes
dynamicgraph::SignalPtr< dynamicgraph::Vector, sigtime_t >	controlPrevSIN

Public Attributes inherited from dynamicgraph::sot::Task
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

Static Public Attributes
static const std::string	CLASS_NAME

Protected Types
enum	TimeRefValues { TIME_REF_UNSIGNIFICANT = -1, TIME_REF_TO_BE_SET = -2 }

Protected Attributes
double	mu

dynamicgraph::Vector	q0

sigtime_t	timeRef

Protected Attributes inherited from dynamicgraph::sot::Task
FeatureList_t	featureList

bool	withDerivative

Protected Attributes inherited from dynamicgraph::Entity
CommandMap_t	commandMap

Logger	logger_

std::string	name

SignalMap	signalMap

Additional Inherited Members
Public Types inherited from dynamicgraph::sot::Task
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

Protected Member Functions inherited from dynamicgraph::sot::Task
	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)

Detailed Description

Definition at line 50 of file task-conti.hh.

Member Enumeration Documentation

◆ TimeRefValues

enum dynamicgraph::sot::TaskConti::TimeRefValues

protected

Enumerator
TIME_REF_UNSIGNIFICANT
TIME_REF_TO_BE_SET

Definition at line 52 of file task-conti.hh.

Constructor & Destructor Documentation

◆ TaskConti()

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

Definition at line 31 of file task-conti.cpp.

Member Function Documentation

◆ computeContiDesiredVelocity()

VectorMultiBound & TaskConti::computeContiDesiredVelocity	(	VectorMultiBound &	task,
		const sigtime_t &	time
	)

Definition at line 41 of file task-conti.cpp.

◆ display()

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

virtual

Reimplemented from dynamicgraph::Entity.

Definition at line 107 of file task-conti.cpp.

◆ getClassName()

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

inlinevirtual

Reimplemented from dynamicgraph::Entity.

Definition at line 60 of file task-conti.hh.

◆ referenceTime() [1/2]

void dynamicgraph::sot::TaskConti::referenceTime ( const sigtime_t & t )

inline

Definition at line 65 of file task-conti.hh.

◆ referenceTime() [2/2]

const sigtime_t& dynamicgraph::sot::TaskConti::referenceTime ( void )

inline

Definition at line 66 of file task-conti.hh.

Member Data Documentation

◆ CLASS_NAME

const std::string dynamicgraph::sot::TaskConti::CLASS_NAME

static

Definition at line 59 of file task-conti.hh.

◆ controlPrevSIN

dynamicgraph::SignalPtr<dynamicgraph::Vector, sigtime_t> dynamicgraph::sot::TaskConti::controlPrevSIN

Definition at line 74 of file task-conti.hh.

◆ mu

double dynamicgraph::sot::TaskConti::mu

protected

Definition at line 55 of file task-conti.hh.

◆ q0

dynamicgraph::Vector dynamicgraph::sot::TaskConti::q0

protected

Definition at line 56 of file task-conti.hh.

◆ timeRef

sigtime_t dynamicgraph::sot::TaskConti::timeRef

protected

Definition at line 54 of file task-conti.hh.

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

Public Member Functions

Public Attributes

Static Public Attributes

Protected Types

Protected Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ TimeRefValues

Constructor & Destructor Documentation

◆ TaskConti()

Member Function Documentation

◆ computeContiDesiredVelocity()

◆ display()

◆ getClassName()

◆ referenceTime() [1/2]

◆ referenceTime() [2/2]

Member Data Documentation

◆ CLASS_NAME

◆ controlPrevSIN

◆ mu

◆ q0

◆ timeRef