dynamicgraph::sot::WeightedSot Class Reference

This class implements the Stack of Task. It allows to deal with the priority of the controllers through the shell. The controllers can be either constraints either tasks. More...

#include <sot/core/weighted-sot.hh>

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

virtual const std::string & getClassName (void) const
 Returns the name of this class. More...
 
 WeightedSot (const std::string &name)
 Default constructor. More...
 
Methods to compute the control law following the

recursive definition of the stack of tasks.

ml::MatrixcomputeSquareRootInvWeight (ml::Matrix &res, const int &time)
 Compute the control law using weighted inverse. More...
 
ml::VectorcomputeWeightedControlLaw (ml::Vector &control, const int &time)
 
ml::MatrixcomputeConstrainedWeight (ml::Matrix &KAK, const int &time)
 
- Public Member Functions inherited from dynamicgraph::sot::Sot
 Sot (const std::string &name)
 Default constructor. More...
 
 ~Sot (void)
 
virtual void defineFreeFloatingJoints (const unsigned int &jointIdFirst, const unsigned int &jointIdLast=-1)
 This method defines the part of the state vector which correspond to the free flyer of the robot. More...
 
virtual void defineNbDof (const unsigned int &nbDof)
 
virtual void commandLine (const std::string &cmdLine, std::istringstream &cmdArgs, std::ostream &os)
 This method deals with the command line. The command given in argument is send to the stack of tasks by the shell. The command understood by sot are: More...
 
virtual std::ostream & writeGraph (std::ostream &os) const
 This method write the priority between tasks in the output stream os. More...
 
virtual void push (TaskAbstract &task)
 Push the task in the stack. It has a lowest priority than the previous ones. If this is the first task, then it has the highest priority. More...
 
virtual TaskAbstractpop (void)
 Pop the task from the stack. This method removes the task with the smallest priority in the task. The other are projected in the null-space of their predecessors. More...
 
virtual bool exist (const TaskAbstract &task)
 This method allows to know if a task exists or not. More...
 
virtual void remove (const TaskAbstract &task)
 Remove a task regardless to its position in the stack. It removes also the signals connected to the output signal of this stack. More...
 
virtual void removeDependency (const TaskAbstract &key)
 This method removes the output signals depending on this task. More...
 
virtual void up (const TaskAbstract &task)
 This method makes the task to swap with the task having the immediate superior priority. More...
 
virtual void down (const TaskAbstract &task)
 This method makes the task to swap with the task having the immediate inferior priority. More...
 
virtual void clear (void)
 Remove all the tasks from the stack. More...
 
virtual void addConstraint (Constraint &constraint)
 Add a constraint to the stack with the current level of priority. More...
 
virtual void removeConstraint (const Constraint &constraint)
 Remove a constraint from the stack. More...
 
virtual void clearConstraint (void)
 Remove all the constraints from the stack. More...
 
virtual ml::VectorcomputeControlLaw (ml::Vector &control, const int &time)
 Compute the control law. More...
 
virtual ml::MatrixcomputeConstraintProjector (ml::Matrix &Proj, const int &time)
 Compute the projector of the constraint. More...
 
virtual void display (std::ostream &os) const
 
- 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 & writeCompletionList (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
 

Public Attributes

Methods to handle signals
dg::SignalPtr< ml::Matrix, int > weightSIN
 
dg::SignalTimeDependent< ml::Matrix, int > constrainedWeightSOUT
 
dg::SignalPtr< ml::Matrix, int > constrainedWeightSIN
 
dg::SignalTimeDependent< ml::Matrix, int > squareRootInvWeightSOUT
 
dg::SignalPtr< ml::Matrix, int > squareRootInvWeightSIN
 
- Public Attributes inherited from dynamicgraph::sot::Sot
SignalPtr< ml::Vector, int > q0SIN
 Intrinsec velocity of the robot, that is used to initialized the recurence of the SOT (e.g. velocity comming from the other OpenHRP plugins). More...
 
SignalPtr< double, int > inversionThresholdSIN
 This signal allow to change the threshold for the damped pseudo-inverse on-line. More...
 
SignalTimeDependent< ml::Matrix, int > constraintSOUT
 Allow to get the result of the Constraint projector. More...
 
SignalTimeDependent< ml::Vector, int > controlSOUT
 Allow to get the result of the computed control law. More...
 

Static Public Attributes

static const std::string CLASS_NAME
 Specify the name of the class entity. More...
 
- Static Public Attributes inherited from dynamicgraph::sot::Sot
static const std::string CLASS_NAME
 Specify the name of the class entity. More...
 
static const double INVERSION_THRESHOLD_DEFAULT
 Threshold to compute the dumped pseudo inverse. More...
 
static const unsigned int NB_JOINTS_DEFAULT
 Number of joints by default. More...
 

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
 
- Static Public Member Functions inherited from dynamicgraph::sot::Sot
static ml::MatrixcomputeJacobianConstrained (const ml::Matrix &Jac, const ml::Matrix &K, ml::Matrix &JK, ml::Matrix &Jff, ml::Matrix &Jact)
 
static ml::MatrixcomputeJacobianConstrained (const TaskAbstract &task, const ml::Matrix &K)
 
static ml::Vector taskVectorToMlVector (const VectorMultiBound &taskVector)
 
- Protected Types inherited from dynamicgraph::sot::Sot
typedef std::list< TaskAbstract * > StackType
 Defines a type for a list of tasks. More...
 
typedef std::list< Constraint * > ConstraintListType
 Defines a type for a list of constraints. More...
 
- 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)
 
- Protected Attributes inherited from dynamicgraph::sot::Sot
StackType stack
 This field is a list of controllers managed by the stack of tasks. More...
 
ConstraintListType constraintList
 This field is a list of constraints managed by the stack of tasks. More...
 
unsigned int ffJointIdFirst
 Defines an interval in the state vector of the robot which is the free flyer. More...
 
unsigned int ffJointIdLast
 
unsigned int nbJoints
 Store the number of joints to be used in the command computed by the stack of tasks. More...
 
TaskAbstracttaskGradient
 Store a pointer to compute the gradient. More...
 
ml::Matrix Proj
 
bool recomputeEachTime
 
- Protected Attributes inherited from dynamicgraph::Entity
std::string name
 
SignalMap signalMap
 
CommandMap_t commandMap
 
- Static Protected Attributes inherited from dynamicgraph::sot::Sot
static const unsigned int FF_JOINT_ID_DEFAULT = 0
 Defines a default joint. More...
 

Detailed Description

This class implements the Stack of Task. It allows to deal with the priority of the controllers through the shell. The controllers can be either constraints either tasks.

Constructor & Destructor Documentation

◆ WeightedSot()

dynamicgraph::sot::WeightedSot::WeightedSot ( const std::string &  name)

Default constructor.

Member Function Documentation

◆ computeConstrainedWeight()

ml::Matrix& dynamicgraph::sot::WeightedSot::computeConstrainedWeight ( ml::Matrix KAK,
const int &  time 
)

◆ computeSquareRootInvWeight()

ml::Matrix& dynamicgraph::sot::WeightedSot::computeSquareRootInvWeight ( ml::Matrix res,
const int &  time 
)

Compute the control law using weighted inverse.

◆ computeWeightedControlLaw()

ml::Vector& dynamicgraph::sot::WeightedSot::computeWeightedControlLaw ( ml::Vector control,
const int &  time 
)

◆ getClassName()

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

Returns the name of this class.

Reimplemented from dynamicgraph::sot::Sot.

Member Data Documentation

◆ CLASS_NAME

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

Specify the name of the class entity.

◆ constrainedWeightSIN

dg::SignalPtr<ml::Matrix,int> dynamicgraph::sot::WeightedSot::constrainedWeightSIN

◆ constrainedWeightSOUT

dg::SignalTimeDependent<ml::Matrix,int> dynamicgraph::sot::WeightedSot::constrainedWeightSOUT

◆ squareRootInvWeightSIN

dg::SignalPtr<ml::Matrix,int> dynamicgraph::sot::WeightedSot::squareRootInvWeightSIN

◆ squareRootInvWeightSOUT

dg::SignalTimeDependent<ml::Matrix,int> dynamicgraph::sot::WeightedSot::squareRootInvWeightSOUT

◆ weightSIN

dg::SignalPtr<ml::Matrix,int> dynamicgraph::sot::WeightedSot::weightSIN