dynamicgraph::sot::SotQr 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/sot-qr.hh>

Inheritance diagram for dynamicgraph::sot::SotQr:
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Public Member Functions

virtual const std::string & getClassName (void) const
 Returns the name of this class. More...
 
 SotQr (const std::string &name)
 Default constructor. More...
 
void defineFreeFloatingJoints (const unsigned int &jointIdFirst, const unsigned int &jointIdLast=-1)
 This method defines the part of the state vector which correspond to the free flyer of the robot. More...
 
virtual void commandLine (const std::string &cmdLine, std::istringstream &cmdArgs, std::ostream &os)
 This method deals with the command line. The command given in argument is send to the stack of tasks by the shell. The command understood by sot are: More...
 
virtual std::ostream & writeGraph (std::ostream &os) const
 This method write the priority between tasks in the output stream os. More...
 
Methods to handle the stack.
void push (TaskAbstract &task)
 Push the task in the stack. It has a lowest priority than the previous ones. If this is the first task, then it has the highest priority. More...
 
TaskAbstractpop (void)
 Pop the task from the stack. This method removes the task with the smallest priority in the task. The other are projected in the null-space of their predecessors. More...
 
bool exist (const TaskAbstract &task)
 This method allows to know if a task exists or not. More...
 
void remove (const TaskAbstract &task)
 Remove a task regardless to its position in the stack. It removes also the signals connected to the output signal of this stack. More...
 
void removeDependency (const TaskAbstract &key)
 This method removes the output signals depending on this task. More...
 
void up (const TaskAbstract &task)
 This method makes the task to swap with the task having the immediate superior priority. More...
 
void down (const TaskAbstract &task)
 This method makes the task to swap with the task having the immediate inferior priority. More...
 
void clear (void)
 Remove all the tasks from the stack. More...
 
Methods to handle the constraints.
void addConstraint (Constraint &constraint)
 Add a constraint to the stack with the current level of priority. More...
 
void removeConstraint (const Constraint &constraint)
 Remove a constraint from the stack. More...
 
void clearConstraint (void)
 Remove all the constraints from the stack. More...
 
Methods to compute the control law following the

recursive definition of the stack of tasks.

ml::VectorcomputeControlLaw (ml::Vector &control, const int &time)
 Compute the control law. More...
 
ml::MatrixcomputeConstraintProjector (ml::Matrix &Proj, const int &time)
 Compute the projector of the constraint. More...
 
- 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

Methods to handle signals
dg::SignalPtr< ml::Vector, int > q0SIN
 Intrinsec velocity of the robot, that is used to initialized the recurence of the SOT (e.g. velocity comming from the other OpenHRP plugins). More...
 
dg::SignalPtr< double, int > inversionThresholdSIN
 This signal allow to change the threshold for the damped pseudo-inverse on-line. More...
 
dg::SignalTimeDependent< ml::Matrix, int > constraintSOUT
 This signal allow to get the result of the Constraint projector. More...
 
dg::SignalTimeDependent< ml::Vector, int > controlSOUT
 This signal allow to get the result of the computed control law. More...
 

Static Public Attributes

static const std::string CLASS_NAME
 Specify the name of the class entity. More...
 
static const double INVERSION_THRESHOLD_DEFAULT
 Threshold to compute the dumped pseudo inverse. More...
 
static const unsigned int NB_JOINTS_DEFAULT
 Number of joints by default. More...
 

Protected Types

typedef std::list< TaskAbstract * > StackType
 Defines a type for a list of tasks. More...
 
typedef std::list< Constraint * > ConstraintListType
 Defines a type for a list of constraints. More...
 

Protected Attributes

StackType stack
 This field is a list of controllers managed by the stack of tasks. More...
 
ConstraintListType constraintList
 This field is a list of constraints managed by the stack of tasks. More...
 
unsigned int ffJointIdFirst
 Defines an interval in the state vector of the robot which is the free flyer. More...
 
unsigned int ffJointIdLast
 
unsigned int nbJoints
 Store the number of joints to be used in the command computed by the stack of tasks. More...
 
TaskAbstracttaskGradient
 Store a pointer to compute the gradient. More...
 
ml::Matrix Proj
 
- Protected Attributes inherited from dynamicgraph::Entity
std::string name
 
SignalMap signalMap
 
CommandMap_t commandMap
 

Static Protected Attributes

static const unsigned int FF_JOINT_ID_DEFAULT = 0
 Defines a default joint. More...
 

Methods to display the stack of tasks.

virtual void display (std::ostream &os) const
 
SOTSOTQR_EXPORT friend std::ostream & operator<< (std::ostream &os, const SotQr &sot)
 

Additional Inherited Members

- 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::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)
 

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.

Member Typedef Documentation

◆ ConstraintListType

Defines a type for a list of constraints.

◆ StackType

typedef std::list<TaskAbstract*> dynamicgraph::sot::SotQr::StackType
protected

Defines a type for a list of tasks.

Constructor & Destructor Documentation

◆ SotQr()

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

Default constructor.

Member Function Documentation

◆ addConstraint()

void dynamicgraph::sot::SotQr::addConstraint ( Constraint constraint)

Add a constraint to the stack with the current level of priority.

◆ clear()

void dynamicgraph::sot::SotQr::clear ( void  )

Remove all the tasks from the stack.

◆ clearConstraint()

void dynamicgraph::sot::SotQr::clearConstraint ( void  )

Remove all the constraints from the stack.

◆ commandLine()

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

This method deals with the command line. The command given in argument is send to the stack of tasks by the shell. The command understood by sot are:

  • Tasks
    • push <task> : Push a task in the stack (FILO).
    • pop : Remove the task push in the stack.
    • down <task> : Make the task have a higher priority, i.e. swap with the task immediatly superior in priority.
    • up <task> : Make the task have a lowest priority, i.e. swap with the task immediatly inferior in priority.
    • rm <task> : Remove the task from the stack.
  • Constraints
    • addConstraint <constraint> : Add the constraint in the stack (FILO).
    • rmConstraint <constraint> : Remove the constraint.
    • clearConstraint : Remove all the constraints.
    • printConstraint :

Reimplemented from dynamicgraph::Entity.

◆ computeConstraintProjector()

ml::Matrix& dynamicgraph::sot::SotQr::computeConstraintProjector ( ml::Matrix Proj,
const int &  time 
)

Compute the projector of the constraint.

◆ computeControlLaw()

ml::Vector& dynamicgraph::sot::SotQr::computeControlLaw ( ml::Vector control,
const int &  time 
)

Compute the control law.

◆ defineFreeFloatingJoints()

void dynamicgraph::sot::SotQr::defineFreeFloatingJoints ( const unsigned int &  jointIdFirst,
const unsigned int &  jointIdLast = -1 
)

This method defines the part of the state vector which correspond to the free flyer of the robot.

◆ display()

virtual void dynamicgraph::sot::SotQr::display ( std::ostream &  os) const
virtual

Display the stack of tasks in text mode as a tree.

Reimplemented from dynamicgraph::Entity.

◆ down()

void dynamicgraph::sot::SotQr::down ( const TaskAbstract task)

This method makes the task to swap with the task having the immediate inferior priority.

◆ exist()

bool dynamicgraph::sot::SotQr::exist ( const TaskAbstract task)

This method allows to know if a task exists or not.

◆ getClassName()

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

Returns the name of this class.

Implements dynamicgraph::Entity.

◆ pop()

TaskAbstract& dynamicgraph::sot::SotQr::pop ( void  )

Pop the task from the stack. This method removes the task with the smallest priority in the task. The other are projected in the null-space of their predecessors.

◆ push()

void dynamicgraph::sot::SotQr::push ( TaskAbstract task)

Push the task in the stack. It has a lowest priority than the previous ones. If this is the first task, then it has the highest priority.

◆ remove()

void dynamicgraph::sot::SotQr::remove ( const TaskAbstract task)

Remove a task regardless to its position in the stack. It removes also the signals connected to the output signal of this stack.

◆ removeConstraint()

void dynamicgraph::sot::SotQr::removeConstraint ( const Constraint constraint)

Remove a constraint from the stack.

◆ removeDependency()

void dynamicgraph::sot::SotQr::removeDependency ( const TaskAbstract key)

This method removes the output signals depending on this task.

◆ up()

void dynamicgraph::sot::SotQr::up ( const TaskAbstract task)

This method makes the task to swap with the task having the immediate superior priority.

◆ writeGraph()

virtual std::ostream& dynamicgraph::sot::SotQr::writeGraph ( std::ostream &  os) const
virtual

This method write the priority between tasks in the output stream os.

Reimplemented from dynamicgraph::Entity.

Friends And Related Function Documentation

◆ operator<<

SOTSOTQR_EXPORT friend std::ostream& operator<< ( std::ostream &  os,
const SotQr sot 
)
friend

Wrap the previous method around an operator.

Member Data Documentation

◆ CLASS_NAME

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

Specify the name of the class entity.

◆ constraintList

ConstraintListType dynamicgraph::sot::SotQr::constraintList
protected

This field is a list of constraints managed by the stack of tasks.

◆ constraintSOUT

dg::SignalTimeDependent<ml::Matrix,int> dynamicgraph::sot::SotQr::constraintSOUT

This signal allow to get the result of the Constraint projector.

◆ controlSOUT

dg::SignalTimeDependent<ml::Vector,int> dynamicgraph::sot::SotQr::controlSOUT

This signal allow to get the result of the computed control law.

◆ FF_JOINT_ID_DEFAULT

const unsigned int dynamicgraph::sot::SotQr::FF_JOINT_ID_DEFAULT = 0
staticprotected

Defines a default joint.

◆ ffJointIdFirst

unsigned int dynamicgraph::sot::SotQr::ffJointIdFirst
protected

Defines an interval in the state vector of the robot which is the free flyer.

◆ ffJointIdLast

unsigned int dynamicgraph::sot::SotQr::ffJointIdLast
protected

◆ INVERSION_THRESHOLD_DEFAULT

const double dynamicgraph::sot::SotQr::INVERSION_THRESHOLD_DEFAULT
static

Threshold to compute the dumped pseudo inverse.

◆ inversionThresholdSIN

dg::SignalPtr<double,int> dynamicgraph::sot::SotQr::inversionThresholdSIN

This signal allow to change the threshold for the damped pseudo-inverse on-line.

◆ NB_JOINTS_DEFAULT

const unsigned int dynamicgraph::sot::SotQr::NB_JOINTS_DEFAULT
static

Number of joints by default.

◆ nbJoints

unsigned int dynamicgraph::sot::SotQr::nbJoints
protected

Store the number of joints to be used in the command computed by the stack of tasks.

◆ Proj

ml::Matrix dynamicgraph::sot::SotQr::Proj
protected

Projection used to compute the control law.

◆ q0SIN

dg::SignalPtr<ml::Vector,int> dynamicgraph::sot::SotQr::q0SIN

Intrinsec velocity of the robot, that is used to initialized the recurence of the SOT (e.g. velocity comming from the other OpenHRP plugins).

◆ stack

StackType dynamicgraph::sot::SotQr::stack
protected

This field is a list of controllers managed by the stack of tasks.

◆ taskGradient

TaskAbstract* dynamicgraph::sot::SotQr::taskGradient
protected

Store a pointer to compute the gradient.