dynamicgraph::sot::Constraint Class Reference

#include <sot/core/constraint.hh>

Inheritance diagram for dynamicgraph::sot::Constraint:
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Public Member Functions

virtual const std::string & getClassName (void) const
 
 Constraint (const std::string &n)
 
void addJacobian (Signal< ml::Matrix, int > &sig)
 
void clearJacobianList (void)
 
void setControlSelection (const Flags &act)
 
void addControlSelection (const Flags &act)
 
void clearControlSelection (void)
 
ml::MatrixcomputeJacobian (ml::Matrix &J, int time)
 
virtual void commandLine (const std::string &cmdLine, std::istringstream &cmdArgs, std::ostream &os)
 
- Public Member Functions inherited from dynamicgraph::sot::TaskAbstract
 TaskAbstract (const std::string &n)
 
- Public Member Functions inherited from dynamicgraph::Entity
 Entity (const std::string &name)
 
virtual ~Entity ()
 
const std::string & getName () const
 
virtual std::string getDocString () const
 
bool hasSignal (const std::string &signame) const
 
SignalBase< int > & getSignal (const std::string &signalName)
 
const SignalBase< int > & getSignal (const std::string &signalName) const
 
std::ostream & displaySignalList (std::ostream &os) const
 
virtual std::ostream & writeGraph (std::ostream &os) const
 
virtual std::ostream & writeCompletionList (std::ostream &os) const
 
virtual void display (std::ostream &os) const
 
virtual SignalBase< int > * test ()
 
virtual void test2 (SignalBase< int > *)
 
const std::string & getCommandList () const
 
CommandMap_t getNewStyleCommandMap ()
 
command::CommandgetNewStyleCommand (const std::string &cmdName)
 
SignalMap getSignalMap () const
 

Static Public Attributes

static const std::string CLASS_NAME
 

Protected Types

typedef std::list< Signal< ml::Matrix, int > *> JacobianList
 

Protected Attributes

JacobianList jacobianList
 
- Protected Attributes inherited from dynamicgraph::Entity
std::string name
 
SignalMap signalMap
 
CommandMap_t commandMap
 

Friends

SOTCONSTRAINT_EXPORT friend std::ostream & operator<< (std::ostream &os, const Constraint &t)
 

Additional Inherited Members

- Public Types inherited from dynamicgraph::Entity
typedef std::map< std::string, SignalBase< int > * > SignalMap
 
typedef std::map< const std::string, command::Command *> CommandMap_t
 
- Public Attributes inherited from dynamicgraph::sot::TaskAbstract
MemoryTaskAbstractmemoryInternal
 
dg::SignalTimeDependent< VectorMultiBound, int > taskSOUT
 
dg::SignalTimeDependent< ml::Matrix, int > jacobianSOUT
 
- 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 entityRegistration ()
 
void entityDeregistration ()
 
void signalRegistration (const SignalArray< int > &signals)
 
void signalDeregistration (const std::string &name)
 

Member Typedef Documentation

◆ JacobianList

typedef std::list< Signal<ml::Matrix,int>* > dynamicgraph::sot::Constraint::JacobianList
protected

Constructor & Destructor Documentation

◆ Constraint()

dynamicgraph::sot::Constraint::Constraint ( const std::string &  n)

Member Function Documentation

◆ addControlSelection()

void dynamicgraph::sot::Constraint::addControlSelection ( const Flags act)

◆ addJacobian()

void dynamicgraph::sot::Constraint::addJacobian ( Signal< ml::Matrix, int > &  sig)

◆ clearControlSelection()

void dynamicgraph::sot::Constraint::clearControlSelection ( void  )

◆ clearJacobianList()

void dynamicgraph::sot::Constraint::clearJacobianList ( void  )

◆ commandLine()

virtual void dynamicgraph::sot::Constraint::commandLine ( const std::string &  cmdLine,
std::istringstream &  cmdArgs,
std::ostream &  os 
)
virtual

Reimplemented from dynamicgraph::sot::TaskAbstract.

◆ computeJacobian()

ml::Matrix& dynamicgraph::sot::Constraint::computeJacobian ( ml::Matrix J,
int  time 
)

◆ getClassName()

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

◆ setControlSelection()

void dynamicgraph::sot::Constraint::setControlSelection ( const Flags act)

Friends And Related Function Documentation

◆ operator<<

SOTCONSTRAINT_EXPORT friend std::ostream& operator<< ( std::ostream &  os,
const Constraint t 
)
friend

Member Data Documentation

◆ CLASS_NAME

const std::string dynamicgraph::sot::Constraint::CLASS_NAME
static

◆ jacobianList

JacobianList dynamicgraph::sot::Constraint::jacobianList
protected