#include <solver-kine.h>
Public Types | |
typedef sot::Stack< TaskAbstract > | stack_t |
typedef sot::Stack< TaskAbstract > | stack_t |
typedef std::list< const dg::SignalBase< int > * > | TaskDependancyList_t |
typedef std::list< const dg::SignalBase< int > * > | TaskDependancyList_t |
typedef Stack_t::iterator | StackIterator_t |
typedef Stack_t::iterator | StackIterator_t |
typedef Stack_t::const_iterator | StackConstIterator_t |
typedef Stack_t::const_iterator | StackConstIterator_t |
typedef std::list< const dg::SignalBase< int > * > | TaskDependancyList_t |
typedef std::list< const dg::SignalBase< int > * > | TaskDependancyList_t |
typedef Stack_t::iterator | StackIterator_t |
typedef Stack_t::iterator | StackIterator_t |
typedef Stack_t::const_iterator | StackConstIterator_t |
typedef Stack_t::const_iterator | StackConstIterator_t |
Public Member Functions | |
SolverKine (const std::string &name) | |
virtual TaskDependancyList_t | getTaskDependancyList (const TaskAbstract &task) |
Return the signal to be added/removed from the dependancy list of the control signal. | |
virtual void | addDependancy (const TaskDependancyList_t &depList) |
virtual void | removeDependancy (const TaskDependancyList_t &depList) |
virtual void | resetReady (void) |
virtual void | display (std::ostream &os) const |
DECLARE_SIGNAL_IN (damping, double) | |
DECLARE_SIGNAL_IN (velocity, ml::Vector) | |
DECLARE_SIGNAL_OUT (control, ml::Vector) | |
void | debugOnce (void) |
void | resetAset (void) |
void | getDecomposition (const int &stage) |
virtual void | push (TaskAbstract &task) |
Push the task in the stack. | |
void | setSecondOrderKinematics () |
SolverKine (const std::string &name) | |
virtual TaskDependancyList_t | getTaskDependancyList (const TaskAbstract &task) |
Return the signal to be added/removed from the dependancy list of the control signal. | |
virtual void | addDependancy (const TaskDependancyList_t &depList) |
virtual void | removeDependancy (const TaskDependancyList_t &depList) |
virtual void | resetReady (void) |
virtual void | display (std::ostream &os) const |
DECLARE_SIGNAL_IN (damping, double) | |
DECLARE_SIGNAL_IN (velocity, ml::Vector) | |
DECLARE_SIGNAL_OUT (control, ml::Vector) | |
void | debugOnce (void) |
void | resetAset (void) |
void | getDecomposition (const int &stage) |
virtual void | push (TaskAbstract &task) |
Push the task in the stack. | |
void | setSecondOrderKinematics () |
Public Attributes | |
bool | controlFreeFloating |
bool | secondOrderKinematics_ |
typedef Stack_t::const_iterator dynamicgraph::sot::Stack< TaskGeneric >::StackConstIterator_t |
typedef Stack_t::const_iterator dynamicgraph::sot::Stack< TaskGeneric >::StackConstIterator_t |
typedef Stack_t::const_iterator dynamicgraph::sot::Stack< TaskGeneric >::StackConstIterator_t |
typedef Stack_t::const_iterator dynamicgraph::sot::Stack< TaskGeneric >::StackConstIterator_t |
typedef Stack_t::iterator dynamicgraph::sot::Stack< TaskGeneric >::StackIterator_t |
typedef Stack_t::iterator dynamicgraph::sot::Stack< TaskGeneric >::StackIterator_t |
typedef Stack_t::iterator dynamicgraph::sot::Stack< TaskGeneric >::StackIterator_t |
typedef Stack_t::iterator dynamicgraph::sot::Stack< TaskGeneric >::StackIterator_t |
typedef std::list< const dg::SignalBase<int>* > dynamicgraph::sot::Stack< TaskGeneric >::TaskDependancyList_t |
typedef std::list< const dg::SignalBase<int>* > dynamicgraph::sot::Stack< TaskGeneric >::TaskDependancyList_t |
typedef std::list< const dg::SignalBase<int>* > dynamicgraph::sot::Stack< TaskGeneric >::TaskDependancyList_t |
typedef std::list< const dg::SignalBase<int>* > dynamicgraph::sot::Stack< TaskGeneric >::TaskDependancyList_t |
dynamicgraph::sot::dyninv::SolverKine::SolverKine | ( | const std::string & | name | ) |
References ADD_COMMANDS_FOR_THE_STACK, dynamicgraph::Entity::addCommand(), controlFreeFloating, debugOnce(), docCommandVoid0(), docCommandVoid1(), docDirectGetter(), docDirectSetter(), getDecomposition(), makeCommandVoid0(), makeCommandVoid1(), makeDirectGetter(), makeDirectSetter(), resetAset(), secondOrderKinematics_, setSecondOrderKinematics(), and dynamicgraph::Entity::signalRegistration().
dynamicgraph::sot::dyninv::SolverKine::SolverKine | ( | const std::string & | name | ) |
void dynamicgraph::sot::dyninv::SolverKine::addDependancy | ( | const TaskDependancyList_t & | depList | ) | [virtual] |
Implements dynamicgraph::sot::Stack< TaskAbstract >.
virtual void dynamicgraph::sot::dyninv::SolverKine::addDependancy | ( | const TaskDependancyList_t & | depList | ) | [virtual] |
Implements dynamicgraph::sot::Stack< TaskAbstract >.
void dynamicgraph::sot::dyninv::SolverKine::debugOnce | ( | void | ) |
Referenced by SolverKine().
void dynamicgraph::sot::dyninv::SolverKine::debugOnce | ( | void | ) |
dynamicgraph::sot::dyninv::SolverKine::DECLARE_SIGNAL_IN | ( | damping | , |
double | |||
) |
dynamicgraph::sot::dyninv::SolverKine::DECLARE_SIGNAL_IN | ( | damping | , |
double | |||
) |
dynamicgraph::sot::dyninv::SolverKine::DECLARE_SIGNAL_IN | ( | velocity | , |
ml::Vector | |||
) |
dynamicgraph::sot::dyninv::SolverKine::DECLARE_SIGNAL_IN | ( | velocity | , |
ml::Vector | |||
) |
dynamicgraph::sot::dyninv::SolverKine::DECLARE_SIGNAL_OUT | ( | control | , |
ml::Vector | |||
) |
dynamicgraph::sot::dyninv::SolverKine::DECLARE_SIGNAL_OUT | ( | control | , |
ml::Vector | |||
) |
virtual void dynamicgraph::sot::dyninv::SolverKine::display | ( | std::ostream & | os | ) | const [virtual] |
Reimplemented from dynamicgraph::Entity.
void dynamicgraph::sot::dyninv::SolverKine::display | ( | std::ostream & | os | ) | const [virtual] |
Reimplemented from dynamicgraph::Entity.
References dynamicgraph::sot::Stack< TaskAbstract >::display(), dynamicgraph::Entity::getName(), and dynamicgraph::sot::Stack< TaskAbstract >::nbDofs.
void dynamicgraph::sot::dyninv::SolverKine::getDecomposition | ( | const int & | stage | ) |
Referenced by SolverKine().
void dynamicgraph::sot::dyninv::SolverKine::getDecomposition | ( | const int & | stage | ) |
SolverKine::TaskDependancyList_t dynamicgraph::sot::dyninv::SolverKine::getTaskDependancyList | ( | const TaskAbstract & | task | ) | [virtual] |
Return the signal to be added/removed from the dependancy list of the control signal.
Implements dynamicgraph::sot::Stack< TaskAbstract >.
References dynamicgraph::sot::TaskAbstract::jacobianSOUT, and dynamicgraph::sot::TaskAbstract::taskSOUT.
virtual TaskDependancyList_t dynamicgraph::sot::dyninv::SolverKine::getTaskDependancyList | ( | const TaskAbstract & | task | ) | [virtual] |
Return the signal to be added/removed from the dependancy list of the control signal.
Implements dynamicgraph::sot::Stack< TaskAbstract >.
void dynamicgraph::sot::dyninv::SolverKine::push | ( | TaskAbstract & | task | ) | [virtual] |
Push the task in the stack.
Call parent implementation anc check that task is of type dynamic if necessary
Reimplemented from dynamicgraph::sot::Stack< TaskAbstract >.
References secondOrderKinematics_.
virtual void dynamicgraph::sot::dyninv::SolverKine::push | ( | TaskAbstract & | task | ) | [virtual] |
Push the task in the stack.
Call parent implementation anc check that task is of type dynamic if necessary
Reimplemented from dynamicgraph::sot::Stack< TaskAbstract >.
virtual void dynamicgraph::sot::dyninv::SolverKine::removeDependancy | ( | const TaskDependancyList_t & | depList | ) | [virtual] |
Implements dynamicgraph::sot::Stack< TaskAbstract >.
void dynamicgraph::sot::dyninv::SolverKine::removeDependancy | ( | const TaskDependancyList_t & | depList | ) | [virtual] |
Implements dynamicgraph::sot::Stack< TaskAbstract >.
void dynamicgraph::sot::dyninv::SolverKine::resetAset | ( | void | ) |
void dynamicgraph::sot::dyninv::SolverKine::resetAset | ( | void | ) |
Referenced by SolverKine().
void dynamicgraph::sot::dyninv::SolverKine::resetReady | ( | void | ) | [virtual] |
Implements dynamicgraph::sot::Stack< TaskAbstract >.
virtual void dynamicgraph::sot::dyninv::SolverKine::resetReady | ( | void | ) | [virtual] |
Implements dynamicgraph::sot::Stack< TaskAbstract >.
void dynamicgraph::sot::dyninv::SolverKine::setSecondOrderKinematics | ( | ) |
void dynamicgraph::sot::dyninv::SolverKine::setSecondOrderKinematics | ( | ) |
References secondOrderKinematics_, and dynamicgraph::sot::Stack< TaskAbstract >::stack.
Referenced by SolverKine().
Referenced by SolverKine().
Referenced by push(), setSecondOrderKinematics(), and SolverKine().