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32 TaskPD::TaskPD(
const std::string &
n)
36 errorDotSOUT(
boost::bind(&
TaskPD::computeErrorDot, this, _1, _2),
38 "sotTaskPD(" +
n +
")::output(vector)::errorDotOUT"),
39 errorDotSIN(NULL,
"sotTaskPD(" +
n +
")::input(vector)::errorDot") {
62 errorDot.resize(errCur.size());
78 sotDEBUG(25) <<
" edot = " << errorDot;
80 for (std::size_t
i = 0;
i < task.size(); ++
i) {
81 task[
i] = task[
i].getSingleBound() - (
beta * errorDot(
i));
94 using namespace command;
dynamicgraph::SignalTimeDependent< dynamicgraph::Vector, sigtime_t > errorDotSOUT
VectorMultiBound & computeTaskExponentialDecrease(VectorMultiBound &errorRef, sigtime_t time)
std::vector< MultiBound > VectorMultiBound
virtual void plug(SignalBase< Time > *ref)
VectorMultiBound & computeTaskModif(VectorMultiBound &error, sigtime_t time)
virtual void addDependency(const SignalBase< Time > &signal)
dynamicgraph::SignalPtr< dynamicgraph::Vector, sigtime_t > errorDotSIN
std::string docDirectSetter(const std::string &name, const std::string &type)
dynamicgraph::SignalTimeDependent< dynamicgraph::Vector, sigtime_t > errorSOUT
dynamicgraph::Vector & computeErrorDot(dynamicgraph::Vector &error, sigtime_t time)
DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(TaskPD, "TaskPD")
dynamicgraph::SignalTimeDependent< VectorMultiBound, sigtime_t > taskSOUT
Class that defines the basic elements of a task.
DirectSetter< E, T > * makeDirectSetter(E &entity, T *ptr, const std::string &docString)
void addCommand(const std::string &name, command::Command *command)
void signalRegistration(const SignalArray< sigtime_t > &signals)
dynamicgraph::Vector previousError
sot-core
Author(s): Olivier Stasse, ostasse@laas.fr
autogenerated on Tue Oct 24 2023 02:26:31