dynamicgraph::sot::dyninv::SolverDynReduced Class Reference

#include <solver-dyn-reduced.h>

Inheritance diagram for dynamicgraph::sot::dyninv::SolverDynReduced:
Collaboration diagram for dynamicgraph::sot::dyninv::SolverDynReduced:

List of all members.

Classes

struct  Contact

Public Types

typedef sot::Stack< TaskDynPDstack_t
typedef sot::Stack< TaskDynPDstack_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

 SolverDynReduced (const std::string &name)
virtual TaskDependancyList_t getTaskDependancyList (const TaskDynPD &task)
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 (matrixInertia, ml::Matrix)
 DECLARE_SIGNAL_IN (inertiaSqroot, ml::Matrix)
 DECLARE_SIGNAL_IN (inertiaSqrootInv, ml::Matrix)
 DECLARE_SIGNAL_IN (velocity, ml::Vector)
 DECLARE_SIGNAL_IN (dyndrift, ml::Vector)
 DECLARE_SIGNAL_IN (damping, double)
 DECLARE_SIGNAL_IN (breakFactor, double)
 DECLARE_SIGNAL_IN (posture, ml::Vector)
 DECLARE_SIGNAL_IN (position, ml::Vector)
 DECLARE_SIGNAL_OUT (precompute, int)
 DECLARE_SIGNAL_OUT (inertiaSqrootOut, ml::Matrix)
 DECLARE_SIGNAL_OUT (inertiaSqrootInvOut, ml::Matrix)
 DECLARE_SIGNAL_OUT (sizeForcePoint, int)
 DECLARE_SIGNAL_OUT (sizeForceSpatial, int)
 DECLARE_SIGNAL_OUT (sizeConfiguration, int)
 DECLARE_SIGNAL_OUT (Jc, ml::Matrix)
 DECLARE_SIGNAL_OUT (forceGenerator, ml::Matrix)
 DECLARE_SIGNAL_OUT (freeMotionBase, ml::Matrix)
 DECLARE_SIGNAL_OUT (freeForceBase, ml::Matrix)
 DECLARE_SIGNAL_OUT (driftContact, ml::Vector)
 DECLARE_SIGNAL_OUT (sizeMotion, int)
 DECLARE_SIGNAL_OUT (sizeActuation, int)
 DECLARE_SIGNAL_OUT (solution, ml::Vector)
 DECLARE_SIGNAL_OUT (reducedControl, ml::Vector)
 DECLARE_SIGNAL_OUT (reducedForce, ml::Vector)
 DECLARE_SIGNAL_OUT (acceleration, ml::Vector)
 DECLARE_SIGNAL_OUT (forces, ml::Vector)
 DECLARE_SIGNAL_OUT (torque, ml::Vector)
 DECLARE_SIGNAL_OUT (forcesNormal, ml::Vector)
 DECLARE_SIGNAL_OUT (activeForces, ml::Vector)
 DECLARE_SIGNAL (Jcdot, OUT, ml::Matrix)
void addContact (const std::string &name, dynamicgraph::Signal< ml::Matrix, int > *jacobianSignal, dynamicgraph::Signal< ml::Matrix, int > *JdotSignal, dynamicgraph::Signal< ml::Vector, int > *corrSignal, dynamicgraph::Signal< ml::Matrix, int > *contactPointsSignal)
void addContactFromTask (const std::string &taskName, const std::string &contactName)
void removeContact (const std::string &name)
void dispContacts (std::ostream &os) const
matrixSINPtr getSupportSIN (const std::string &contacName)
void debugOnce (void)
 SolverDynReduced (const std::string &name)
virtual TaskDependancyList_t getTaskDependancyList (const TaskDynPD &task)
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 (matrixInertia, ml::Matrix)
 DECLARE_SIGNAL_IN (inertiaSqroot, ml::Matrix)
 DECLARE_SIGNAL_IN (inertiaSqrootInv, ml::Matrix)
 DECLARE_SIGNAL_IN (velocity, ml::Vector)
 DECLARE_SIGNAL_IN (dyndrift, ml::Vector)
 DECLARE_SIGNAL_IN (damping, double)
 DECLARE_SIGNAL_IN (breakFactor, double)
 DECLARE_SIGNAL_IN (posture, ml::Vector)
 DECLARE_SIGNAL_IN (position, ml::Vector)
 DECLARE_SIGNAL_OUT (precompute, int)
 DECLARE_SIGNAL_OUT (inertiaSqrootOut, ml::Matrix)
 DECLARE_SIGNAL_OUT (inertiaSqrootInvOut, ml::Matrix)
 DECLARE_SIGNAL_OUT (sizeForcePoint, int)
 DECLARE_SIGNAL_OUT (sizeForceSpatial, int)
 DECLARE_SIGNAL_OUT (sizeConfiguration, int)
 DECLARE_SIGNAL_OUT (Jc, ml::Matrix)
 DECLARE_SIGNAL_OUT (forceGenerator, ml::Matrix)
 DECLARE_SIGNAL_OUT (freeMotionBase, ml::Matrix)
 DECLARE_SIGNAL_OUT (freeForceBase, ml::Matrix)
 DECLARE_SIGNAL_OUT (driftContact, ml::Vector)
 DECLARE_SIGNAL_OUT (sizeMotion, int)
 DECLARE_SIGNAL_OUT (sizeActuation, int)
 DECLARE_SIGNAL_OUT (solution, ml::Vector)
 DECLARE_SIGNAL_OUT (reducedControl, ml::Vector)
 DECLARE_SIGNAL_OUT (reducedForce, ml::Vector)
 DECLARE_SIGNAL_OUT (acceleration, ml::Vector)
 DECLARE_SIGNAL_OUT (forces, ml::Vector)
 DECLARE_SIGNAL_OUT (torque, ml::Vector)
 DECLARE_SIGNAL_OUT (forcesNormal, ml::Vector)
 DECLARE_SIGNAL_OUT (activeForces, ml::Vector)
 DECLARE_SIGNAL (Jcdot, OUT, ml::Matrix)
void addContact (const std::string &name, dynamicgraph::Signal< ml::Matrix, int > *jacobianSignal, dynamicgraph::Signal< ml::Matrix, int > *JdotSignal, dynamicgraph::Signal< ml::Vector, int > *corrSignal, dynamicgraph::Signal< ml::Matrix, int > *contactPointsSignal)
void addContactFromTask (const std::string &taskName, const std::string &contactName)
void removeContact (const std::string &name)
void dispContacts (std::ostream &os) const
matrixSINPtr getSupportSIN (const std::string &contacName)
void debugOnce (void)

Member Typedef Documentation

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

Constructor & Destructor Documentation

dynamicgraph::sot::dyninv::SolverDynReduced::SolverDynReduced ( const std::string &  name)

Member Function Documentation

void dynamicgraph::sot::dyninv::SolverDynReduced::addContact ( const std::string &  name,
dynamicgraph::Signal< ml::Matrix, int > *  jacobianSignal,
dynamicgraph::Signal< ml::Matrix, int > *  JdotSignal,
dynamicgraph::Signal< ml::Vector, int > *  corrSignal,
dynamicgraph::Signal< ml::Matrix, int > *  contactPointsSignal 
)
void dynamicgraph::sot::dyninv::SolverDynReduced::addContact ( const std::string &  name,
dynamicgraph::Signal< ml::Matrix, int > *  jacobianSignal,
dynamicgraph::Signal< ml::Matrix, int > *  JdotSignal,
dynamicgraph::Signal< ml::Vector, int > *  corrSignal,
dynamicgraph::Signal< ml::Matrix, int > *  contactPointsSignal 
)
void dynamicgraph::sot::dyninv::SolverDynReduced::addContactFromTask ( const std::string &  taskName,
const std::string &  contactName 
)
void dynamicgraph::sot::dyninv::SolverDynReduced::addContactFromTask ( const std::string &  taskName,
const std::string &  contactName 
)
void dynamicgraph::sot::dyninv::SolverDynReduced::addDependancy ( const TaskDependancyList_t depList) [virtual]
virtual void dynamicgraph::sot::dyninv::SolverDynReduced::addDependancy ( const TaskDependancyList_t depList) [virtual]
void dynamicgraph::sot::dyninv::SolverDynReduced::debugOnce ( void  )
void dynamicgraph::sot::dyninv::SolverDynReduced::debugOnce ( void  )

Referenced by SolverDynReduced().

dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL ( Jcdot  ,
OUT  ,
ml::Matrix   
)
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL ( Jcdot  ,
OUT  ,
ml::Matrix   
)
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_IN ( matrixInertia  ,
ml::Matrix   
)
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_IN ( matrixInertia  ,
ml::Matrix   
)
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_IN ( inertiaSqroot  ,
ml::Matrix   
)
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_IN ( inertiaSqroot  ,
ml::Matrix   
)
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_IN ( inertiaSqrootInv  ,
ml::Matrix   
)
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_IN ( inertiaSqrootInv  ,
ml::Matrix   
)
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_IN ( velocity  ,
ml::Vector   
)
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_IN ( velocity  ,
ml::Vector   
)
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_IN ( dyndrift  ,
ml::Vector   
)
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_IN ( dyndrift  ,
ml::Vector   
)
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_IN ( damping  ,
double   
)
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_IN ( damping  ,
double   
)
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_IN ( breakFactor  ,
double   
)
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_IN ( breakFactor  ,
double   
)
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_IN ( posture  ,
ml::Vector   
)
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_IN ( posture  ,
ml::Vector   
)
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_IN ( position  ,
ml::Vector   
)
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_IN ( position  ,
ml::Vector   
)
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_OUT ( precompute  ,
int   
)
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_OUT ( precompute  ,
int   
)
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_OUT ( inertiaSqrootOut  ,
ml::Matrix   
)
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_OUT ( inertiaSqrootOut  ,
ml::Matrix   
)
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_OUT ( inertiaSqrootInvOut  ,
ml::Matrix   
)
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_OUT ( inertiaSqrootInvOut  ,
ml::Matrix   
)
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_OUT ( sizeForcePoint  ,
int   
)
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_OUT ( sizeForcePoint  ,
int   
)
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_OUT ( sizeForceSpatial  ,
int   
)
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_OUT ( sizeForceSpatial  ,
int   
)
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_OUT ( sizeConfiguration  ,
int   
)
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_OUT ( sizeConfiguration  ,
int   
)
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_OUT ( Jc  ,
ml::Matrix   
)
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_OUT ( Jc  ,
ml::Matrix   
)
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_OUT ( forceGenerator  ,
ml::Matrix   
)
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_OUT ( forceGenerator  ,
ml::Matrix   
)
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_OUT ( freeMotionBase  ,
ml::Matrix   
)
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_OUT ( freeMotionBase  ,
ml::Matrix   
)
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_OUT ( freeForceBase  ,
ml::Matrix   
)
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_OUT ( freeForceBase  ,
ml::Matrix   
)
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_OUT ( driftContact  ,
ml::Vector   
)
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_OUT ( driftContact  ,
ml::Vector   
)
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_OUT ( sizeMotion  ,
int   
)
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_OUT ( sizeMotion  ,
int   
)
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_OUT ( sizeActuation  ,
int   
)
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_OUT ( sizeActuation  ,
int   
)
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_OUT ( solution  ,
ml::Vector   
)
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_OUT ( solution  ,
ml::Vector   
)
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_OUT ( reducedControl  ,
ml::Vector   
)
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_OUT ( reducedControl  ,
ml::Vector   
)
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_OUT ( reducedForce  ,
ml::Vector   
)
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_OUT ( reducedForce  ,
ml::Vector   
)
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_OUT ( acceleration  ,
ml::Vector   
)
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_OUT ( acceleration  ,
ml::Vector   
)
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_OUT ( forces  ,
ml::Vector   
)
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_OUT ( forces  ,
ml::Vector   
)
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_OUT ( torque  ,
ml::Vector   
)
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_OUT ( torque  ,
ml::Vector   
)
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_OUT ( forcesNormal  ,
ml::Vector   
)
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_OUT ( forcesNormal  ,
ml::Vector   
)
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_OUT ( activeForces  ,
ml::Vector   
)
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_OUT ( activeForces  ,
ml::Vector   
)
void dynamicgraph::sot::dyninv::SolverDynReduced::dispContacts ( std::ostream &  os) const
void dynamicgraph::sot::dyninv::SolverDynReduced::dispContacts ( std::ostream &  os) const

Referenced by display(), and SolverDynReduced().

virtual void dynamicgraph::sot::dyninv::SolverDynReduced::display ( std::ostream &  os) const [virtual]

Reimplemented from dynamicgraph::Entity.

void dynamicgraph::sot::dyninv::SolverDynReduced::display ( std::ostream &  os) const [virtual]
SolverDynReduced::matrixSINPtr dynamicgraph::sot::dyninv::SolverDynReduced::getSupportSIN ( const std::string &  contacName)
matrixSINPtr dynamicgraph::sot::dyninv::SolverDynReduced::getSupportSIN ( const std::string &  contacName)
virtual TaskDependancyList_t dynamicgraph::sot::dyninv::SolverDynReduced::getTaskDependancyList ( const TaskDynPD task) [virtual]
SolverDynReduced::TaskDependancyList_t dynamicgraph::sot::dyninv::SolverDynReduced::getTaskDependancyList ( const TaskDynPD task) [virtual]
void dynamicgraph::sot::dyninv::SolverDynReduced::removeContact ( const std::string &  name)
void dynamicgraph::sot::dyninv::SolverDynReduced::removeContact ( const std::string &  name)
void dynamicgraph::sot::dyninv::SolverDynReduced::removeDependancy ( const TaskDependancyList_t depList) [virtual]
virtual void dynamicgraph::sot::dyninv::SolverDynReduced::removeDependancy ( const TaskDependancyList_t depList) [virtual]
virtual void dynamicgraph::sot::dyninv::SolverDynReduced::resetReady ( void  ) [virtual]
void dynamicgraph::sot::dyninv::SolverDynReduced::resetReady ( void  ) [virtual]