dynamicgraph::sot::TaskPD Class Reference

#include <sot/core/task-pd.hh>

Inheritance diagram for dynamicgraph::sot::TaskPD:
[legend]

Public Member Functions

virtual const std::string & getClassName (void) const
 
 TaskPD (const std::string &n)
 
ml::VectorcomputeErrorDot (ml::Vector &error, int time)
 
VectorMultiBoundcomputeTaskModif (VectorMultiBound &error, int time)
 
virtual void commandLine (const std::string &cmdLine, std::istringstream &cmdArgs, std::ostream &os)
 
void initCommand (void)
 
- Public Member Functions inherited from dynamicgraph::sot::Task
 Task (const std::string &n)
 
void initCommands (void)
 
void addFeature (FeatureAbstract &s)
 
void addFeatureFromName (const std::string &name)
 
void clearFeatureList (void)
 
FeatureList_tgetFeatureList (void)
 
void setControlSelection (const Flags &act)
 
void addControlSelection (const Flags &act)
 
void clearControlSelection (void)
 
void setWithDerivative (const bool &s)
 
bool getWithDerivative (void)
 
ml::VectorcomputeError (ml::Vector &error, int time)
 
VectorMultiBoundcomputeTaskExponentialDecrease (VectorMultiBound &errorRef, int time)
 
ml::MatrixcomputeJacobian (ml::Matrix &J, int time)
 
ml::VectorcomputeErrorTimeDerivative (ml::Vector &res, int time)
 
void display (std::ostream &os) const
 
virtual std::ostream & writeGraph (std::ostream &os) const
 
- Public Member Functions inherited from dynamicgraph::sot::TaskAbstract
 TaskAbstract (const std::string &n)
 
- 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

ml::Vector previousError
 
double beta
 
dg::SignalTimeDependent< ml::Vector, int > errorDotSOUT
 
dg::SignalPtr< ml::Vector, int > errorDotSIN
 
- Public Attributes inherited from dynamicgraph::sot::Task
dg::SignalPtr< double, int > controlGainSIN
 
dg::SignalPtr< double, int > dampingGainSINOUT
 
dg::SignalPtr< Flags, int > controlSelectionSIN
 
dg::SignalTimeDependent< ml::Vector, int > errorSOUT
 
dg::SignalTimeDependent< ml::Vector, int > errorTimeDerivativeSOUT
 
- Public Attributes inherited from dynamicgraph::sot::TaskAbstract
MemoryTaskAbstractmemoryInternal
 
dg::SignalTimeDependent< VectorMultiBound, int > taskSOUT
 
dg::SignalTimeDependent< ml::Matrix, int > jacobianSOUT
 

Static Public Attributes

static const std::string CLASS_NAME
 

Additional Inherited Members

- Public Types inherited from dynamicgraph::sot::Task
typedef std::list< FeatureAbstract *> FeatureList_t
 
- Public Types inherited from dynamicgraph::Entity
typedef std::map< std::string, SignalBase< int > * > SignalMap
 
typedef std::map< const std::string, command::Command *> CommandMap_t
 
- Protected Member Functions inherited from dynamicgraph::sot::Task
 DYNAMIC_GRAPH_ENTITY_DECL ()
 
- Protected Member Functions inherited from dynamicgraph::sot::TaskAbstract
void taskRegistration (void)
 
- 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::Task
FeatureList_t featureList
 
bool withDerivative
 
- Protected Attributes inherited from dynamicgraph::Entity
std::string name
 
SignalMap signalMap
 
CommandMap_t commandMap
 

Constructor & Destructor Documentation

◆ TaskPD()

dynamicgraph::sot::TaskPD::TaskPD ( const std::string &  n)

Member Function Documentation

◆ commandLine()

virtual void dynamicgraph::sot::TaskPD::commandLine ( const std::string &  cmdLine,
std::istringstream &  cmdArgs,
std::ostream &  os 
)
virtual

Reimplemented from dynamicgraph::sot::Task.

◆ computeErrorDot()

ml::Vector& dynamicgraph::sot::TaskPD::computeErrorDot ( ml::Vector error,
int  time 
)

◆ computeTaskModif()

VectorMultiBound& dynamicgraph::sot::TaskPD::computeTaskModif ( VectorMultiBound error,
int  time 
)

◆ getClassName()

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

Implements dynamicgraph::Entity.

◆ initCommand()

void dynamicgraph::sot::TaskPD::initCommand ( void  )

Member Data Documentation

◆ beta

double dynamicgraph::sot::TaskPD::beta

◆ CLASS_NAME

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

◆ errorDotSIN

dg::SignalPtr< ml::Vector,int > dynamicgraph::sot::TaskPD::errorDotSIN

◆ errorDotSOUT

dg::SignalTimeDependent< ml::Vector,int > dynamicgraph::sot::TaskPD::errorDotSOUT

◆ previousError

ml::Vector dynamicgraph::sot::TaskPD::previousError