dynamicgraph::sot::dyninv::TaskDynLimits Class Reference

#include <task-dyn-limits.h>

Inheritance diagram for dynamicgraph::sot::dyninv::TaskDynLimits:
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Collaboration diagram for dynamicgraph::sot::dyninv::TaskDynLimits:
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List of all members.

Public Types

typedef TaskDynLimits EntityClassName
typedef TaskDynLimits EntityClassName

Public Member Functions

 TaskDynLimits (const std::string &name)
 DECLARE_SIGNAL_IN (position, dg::Vector)
 DECLARE_SIGNAL_IN (velocity, dg::Vector)
 DECLARE_SIGNAL_IN (referencePosInf, dg::Vector)
 DECLARE_SIGNAL_IN (referencePosSup, dg::Vector)
 DECLARE_SIGNAL_IN (referenceVelInf, dg::Vector)
 DECLARE_SIGNAL_IN (referenceVelSup, dg::Vector)
 DECLARE_SIGNAL_OUT (normalizedVelocity, dg::Vector)
 DECLARE_SIGNAL_OUT (normalizedPosition, dg::Vector)
dg::sot::VectorMultiBoundcomputeTaskDynLimits (dg::sot::VectorMultiBound &res, int time)
dg::MatrixcomputeTjlJacobian (dg::Matrix &J, int time)
dg::MatrixcomputeTjlJdot (dg::Matrix &Jdot, int time)
 TaskDynLimits (const std::string &name)
 DECLARE_SIGNAL_IN (position, dg::Vector)
 DECLARE_SIGNAL_IN (velocity, dg::Vector)
 DECLARE_SIGNAL_IN (referencePosInf, dg::Vector)
 DECLARE_SIGNAL_IN (referencePosSup, dg::Vector)
 DECLARE_SIGNAL_IN (referenceVelInf, dg::Vector)
 DECLARE_SIGNAL_IN (referenceVelSup, dg::Vector)
 DECLARE_SIGNAL_OUT (normalizedVelocity, dg::Vector)
 DECLARE_SIGNAL_OUT (normalizedPosition, dg::Vector)
dg::sot::VectorMultiBoundcomputeTaskDynLimits (dg::sot::VectorMultiBound &res, int time)
dg::MatrixcomputeTjlJacobian (dg::Matrix &J, int time)
dg::MatrixcomputeTjlJdot (dg::Matrix &Jdot, int time)

Protected Attributes

dg::Matrix previousJ
bool previousJset

Member Typedef Documentation


Constructor & Destructor Documentation

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

Member Function Documentation

dg::sot::VectorMultiBound & dynamicgraph::sot::dyninv::TaskDynLimits::computeTaskDynLimits ( dg::sot::VectorMultiBound res,
int  time 
)
dg::sot::VectorMultiBound& dynamicgraph::sot::dyninv::TaskDynLimits::computeTaskDynLimits ( dg::sot::VectorMultiBound res,
int  time 
)
dg::Matrix & dynamicgraph::sot::dyninv::TaskDynLimits::computeTjlJacobian ( dg::Matrix J,
int  time 
)

References sotDEBUG.

Referenced by TaskDynLimits().

dg::Matrix& dynamicgraph::sot::dyninv::TaskDynLimits::computeTjlJacobian ( dg::Matrix J,
int  time 
)
dg::Matrix & dynamicgraph::sot::dyninv::TaskDynLimits::computeTjlJdot ( dg::Matrix Jdot,
int  time 
)

References sotDEBUGIN, and sotDEBUGOUT.

Referenced by TaskDynLimits().

dg::Matrix& dynamicgraph::sot::dyninv::TaskDynLimits::computeTjlJdot ( dg::Matrix Jdot,
int  time 
)
dynamicgraph::sot::dyninv::TaskDynLimits::DECLARE_SIGNAL_IN ( position  ,
dg::Vector   
)
dynamicgraph::sot::dyninv::TaskDynLimits::DECLARE_SIGNAL_IN ( position  ,
dg::Vector   
)
dynamicgraph::sot::dyninv::TaskDynLimits::DECLARE_SIGNAL_IN ( velocity  ,
dg::Vector   
)
dynamicgraph::sot::dyninv::TaskDynLimits::DECLARE_SIGNAL_IN ( velocity  ,
dg::Vector   
)
dynamicgraph::sot::dyninv::TaskDynLimits::DECLARE_SIGNAL_IN ( referencePosInf  ,
dg::Vector   
)
dynamicgraph::sot::dyninv::TaskDynLimits::DECLARE_SIGNAL_IN ( referencePosInf  ,
dg::Vector   
)
dynamicgraph::sot::dyninv::TaskDynLimits::DECLARE_SIGNAL_IN ( referencePosSup  ,
dg::Vector   
)
dynamicgraph::sot::dyninv::TaskDynLimits::DECLARE_SIGNAL_IN ( referencePosSup  ,
dg::Vector   
)
dynamicgraph::sot::dyninv::TaskDynLimits::DECLARE_SIGNAL_IN ( referenceVelInf  ,
dg::Vector   
)
dynamicgraph::sot::dyninv::TaskDynLimits::DECLARE_SIGNAL_IN ( referenceVelInf  ,
dg::Vector   
)
dynamicgraph::sot::dyninv::TaskDynLimits::DECLARE_SIGNAL_IN ( referenceVelSup  ,
dg::Vector   
)
dynamicgraph::sot::dyninv::TaskDynLimits::DECLARE_SIGNAL_IN ( referenceVelSup  ,
dg::Vector   
)
dynamicgraph::sot::dyninv::TaskDynLimits::DECLARE_SIGNAL_OUT ( normalizedVelocity  ,
dg::Vector   
)
dynamicgraph::sot::dyninv::TaskDynLimits::DECLARE_SIGNAL_OUT ( normalizedVelocity  ,
dg::Vector   
)
dynamicgraph::sot::dyninv::TaskDynLimits::DECLARE_SIGNAL_OUT ( normalizedPosition  ,
dg::Vector   
)
dynamicgraph::sot::dyninv::TaskDynLimits::DECLARE_SIGNAL_OUT ( normalizedPosition  ,
dg::Vector   
)

Member Data Documentation