task.hh

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/*
 * Copyright 2010,
 * François Bleibel,
 * Olivier Stasse,
 *
 * CNRS/AIST
 *
 */

#ifndef __SOT_TASK_H__
#define __SOT_TASK_H__

/* --------------------------------------------------------------------- */
/* --- INCLUDE --------------------------------------------------------- */
/* --------------------------------------------------------------------- */

/* Matrix */
#include <dynamic-graph/linear-algebra.h>

/* STD */
#include <string>

/* SOT */
#include <sot/core/exception-task.hh>
#include <sot/core/feature-abstract.hh>
#include <sot/core/flags.hh>
#include <sot/core/task-abstract.hh>

/* --------------------------------------------------------------------- */
/* --- API ------------------------------------------------------------- */
/* --------------------------------------------------------------------- */

#if defined(WIN32)
#if defined task_EXPORTS
#define SOTTASK_EXPORT __declspec(dllexport)
#else
#define SOTTASK_EXPORT __declspec(dllimport)
#endif
#else
#define SOTTASK_EXPORT
#endif

/* --------------------------------------------------------------------- */
/* --- CLASS ----------------------------------------------------------- */
/* --------------------------------------------------------------------- */
namespace dynamicgraph {
namespace sot {

class SOTTASK_EXPORT Task : public TaskAbstract {
 public:
  typedef std::list<FeatureAbstract *> FeatureList_t;

 protected:
  FeatureList_t featureList;
  bool withDerivative;

  DYNAMIC_GRAPH_ENTITY_DECL();

 public:
  Task(const std::string &n);
  void initCommands(void);

  void addFeature(FeatureAbstract &s);
  void addFeatureFromName(const std::string &name);
  void clearFeatureList(void);
  FeatureList_t &getFeatureList(void) { return featureList; }

  void setControlSelection(const Flags &act);
  void addControlSelection(const Flags &act);
  void clearControlSelection(void);

  void setWithDerivative(const bool &s);
  bool getWithDerivative(void);

  /* --- COMPUTATION --- */
  dynamicgraph::Vector &computeError(dynamicgraph::Vector &error, int time);
  VectorMultiBound &computeTaskExponentialDecrease(VectorMultiBound &errorRef,
                                                   int time);
  dynamicgraph::Matrix &computeJacobian(dynamicgraph::Matrix &J, int time);
  dynamicgraph::Vector &computeErrorTimeDerivative(dynamicgraph::Vector &res,
                                                   int time);

  /* --- SIGNALS ------------------------------------------------------------ */
 public:
  dynamicgraph::SignalPtr<double, int> controlGainSIN;
  dynamicgraph::SignalPtr<double, int> dampingGainSINOUT;
  dynamicgraph::SignalPtr<Flags, int> controlSelectionSIN;
  dynamicgraph::SignalTimeDependent<dynamicgraph::Vector, int> errorSOUT;
  dynamicgraph::SignalTimeDependent<dynamicgraph::Vector, int>
      errorTimeDerivativeSOUT;

  /* --- DISPLAY ------------------------------------------------------------ */
  void display(std::ostream &os) const;

  /* --- Writing graph --- */
  virtual std::ostream &writeGraph(std::ostream &os) const;
};

} /* namespace sot */
} /* namespace dynamicgraph */

#endif /* #ifndef __SOT_TASK_H__ */