#include <sot/core/debug.hh>
#include <dynamic-graph/command-direct-getter.h>
#include <dynamic-graph/command-direct-setter.h>
#include <sot/core/factory.hh>
#include <sot/core/feature-posture.hh>
#include <sot/core/matrix-geometry.hh>
#include <sot/core/matrix-svd.hh>
#include <sot/core/memory-task-sot.hh>
#include <sot/core/pool.hh>
#include <sot/core/sot.hh>
#include <sot/core/task.hh>
#include "../src/sot/sot-command.h"

Include dependency graph for sot.cpp:

Macros
#define	sotCHRONO1

#define	sotCOUNTER(nbc1, nbc2)

#define	sotINIT_CHRONO1

#define	sotINITCOUNTER(nbc1)

#define	sotINITPARTCOUNTERS

#define	sotPRINTCOUNTER(nbc1)

#define	sotSTART_CHRONO1

#define	sotSTARTPARTCOUNTERS

Typedefs
typedef MemoryTaskSOT::Kernel_t	Kernel_t

typedef MemoryTaskSOT::KernelConst_t	KernelConst_t

Functions
const Matrix &	computeJacobianActivated (TaskAbstract Ta, Task T, Matrix &Jmem, const sigtime_t &iterTime)

	DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (Sot, "SOT")

MemoryTaskSOT *	getMemory (TaskAbstract &t, const Matrix::Index &tDim, const Matrix::Index &nDof)

bool	isFullPostureTask (Task *task, const Matrix::Index &nDof, const sigtime_t &iterTime)

template<typename MapType , typename MatrixType >
void	makeMap (MapType &map, MatrixType &m)

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

const Eigen::IOFormat	python (Eigen::FullPrecision, 0, ", ", ",\n", "[", "]", "[", "]")

bool	updateControl (MemoryTaskSOT *mem, const Matrix::Index rankJ, bool has_kernel, const KernelConst_t &kernel, Vector &control, const double &threshold)

Macro Definition Documentation

◆ sotCHRONO1

#define sotCHRONO1

Definition at line 450 of file sot.cpp.

◆ sotCOUNTER

#define sotCOUNTER	(	nbc1,
		nbc2
	)

Definition at line 453 of file sot.cpp.

◆ sotINIT_CHRONO1

#define sotINIT_CHRONO1

Definition at line 448 of file sot.cpp.

◆ sotINITCOUNTER

#define sotINITCOUNTER ( nbc1 )

Definition at line 454 of file sot.cpp.

◆ sotINITPARTCOUNTERS

#define sotINITPARTCOUNTERS

Definition at line 451 of file sot.cpp.

◆ sotPRINTCOUNTER

#define sotPRINTCOUNTER ( nbc1 )

Definition at line 455 of file sot.cpp.

◆ sotSTART_CHRONO1

#define sotSTART_CHRONO1

Definition at line 449 of file sot.cpp.

◆ sotSTARTPARTCOUNTERS

#define sotSTARTPARTCOUNTERS

Definition at line 452 of file sot.cpp.

Typedef Documentation

◆ Kernel_t

typedef MemoryTaskSOT::Kernel_t Kernel_t

Definition at line 351 of file sot.cpp.

◆ KernelConst_t

typedef MemoryTaskSOT::KernelConst_t KernelConst_t

Definition at line 352 of file sot.cpp.

Function Documentation

◆ computeJacobianActivated()

const Matrix& computeJacobianActivated	(	TaskAbstract *	Ta,
		Task *	T,
		Matrix &	Jmem,
		const sigtime_t &	iterTime
	)

Definition at line 328 of file sot.cpp.

◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN()

DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN	(	Sot	,
		"SOT"
	)

◆ getMemory()

MemoryTaskSOT* getMemory	(	TaskAbstract &	t,
		const Matrix::Index &	tDim,
		const Matrix::Index &	nDof
	)

Definition at line 399 of file sot.cpp.

◆ isFullPostureTask()

bool isFullPostureTask	(	Task *	task,
		const Matrix::Index &	nDof,
		const sigtime_t &	iterTime
	)

Definition at line 387 of file sot.cpp.

◆ makeMap()

template<typename MapType , typename MatrixType >

void makeMap	(	MapType &	map,
		MatrixType &	m
	)

inline

Definition at line 355 of file sot.cpp.

◆ operator<<()

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

Wrap the previous method around an operator.

Definition at line 659 of file sot.cpp.

◆ python()

const Eigen::IOFormat python	(	Eigen::FullPrecision	,
		0	,
		"	,
		"	,
		"	,
		\n"	,
		""	[", "],
		""	[", "]
	)

◆ updateControl()

bool updateControl	(	MemoryTaskSOT *	mem,
		const Matrix::Index	rankJ,
		bool	has_kernel,
		const KernelConst_t &	kernel,
		Vector &	control,
		const double &	threshold
	)

Definition at line 361 of file sot.cpp.

Macros

Typedefs

Functions