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:

List of all members.

Public Member Functions

virtual const std::string & getClassName (void) const
 Returns the name of this class.
 WeightedSot (const std::string &name)
 Default constructor.
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.
ml::VectorcomputeWeightedControlLaw (ml::Vector &control, const int &time)
ml::MatrixcomputeConstrainedWeight (ml::Matrix &KAK, const int &time)

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

Static Public Attributes

static const std::string CLASS_NAME
 Specify the name of the class entity.

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

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

Default constructor.


Member Function Documentation

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

Compute the control law using weighted inverse.

ml::Vector& dynamicgraph::sot::WeightedSot::computeWeightedControlLaw ( ml::Vector control,
const int &  time 
)
virtual const std::string& dynamicgraph::sot::WeightedSot::getClassName ( void  ) const [inline, virtual]

Returns the name of this class.

Reimplemented from dynamicgraph::sot::Sot.


Member Data Documentation

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

Specify the name of the class entity.

Reimplemented from dynamicgraph::sot::Sot.