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dynamicgraph::sot Namespace Reference

Namespaces

 command
 
 detail
 

Classes

class  NamedVector
 
class  AbstractSotExternalInterface
 
class  AdditionalFunctions
 This helper class dynamically overloads the "new" shell command to allow creation of tasks and features as well as entities. More...
 
class  BinaryIntToUint
 
class  BinaryOp
 
class  ClampWorkspace
 
class  CoMFreezer
 
class  Constraint
 
class  Contiifstream
 
class  ControlGR
 
class  ControlPD
 
class  DebugTrace
 
class  Derivator
 
class  Device
 
class  ExceptionAbstract
 
class  ExceptionDynamic
 
class  ExceptionFactory
 
class  ExceptionFeature
 
class  ExceptionSignal
 
class  ExceptionTask
 
class  ExceptionTools
 
class  Feature1D
 Simple test: the task is defined to be e_2 = .5 . e'.e, with e the mother task. The jacobian is then J_2 = e'.J, J being the jacobian of the mother task. More...
 
class  FeatureAbstract
 This class gives the abstract definition of a feature. More...
 
class  FeatureReferenceHelper
 
class  FeatureGeneric
 Class that defines a generic implementation of the abstract interface for features. More...
 
class  FeatureJointLimits
 Class that defines gradient vector for jl avoidance. More...
 
class  FeatureLineDistance
 Class that defines point-3d control feature. More...
 
class  FeaturePoint6dRelative
 Class that defines the motion of a point of the body wrt. another point. More...
 
class  FeaturePoint6d
 Class that defines point-6d control feature. More...
 
class  FeaturePosture
 
class  FeatureTask
 
class  FeatureVector3
 Class that defines point-3d control feature. More...
 
class  FeatureVisualPoint
 Class that defines 2D visualPoint visual feature. More...
 
class  FIRFilter
 
class  Flags
 
class  GainAdaptive
 
class  GainHyperbolic
 
class  GripperControl
 The goal of this entity is to ensure that the maximal torque will not be exceeded during a grasping task. If the maximal torque is reached, then the current position of the gripper is kept. More...
 
class  GripperControlPlugin
 
class  IntegratorAbstract
 integrates an ODE. If Y is the output and X the input, the following equation is integrated: a_p * d(p)Y / dt^p + .... + a_0 Y = b_m * d(m)X / dt^m + ... . b_0 X a_i are the coefficients of the denominator of the associated transfer function between X and Y, while the b_i are those of the numerator. More...
 
class  IntegratorEuler
 integrates an ODE using a naive Euler integration. TODO: change the integration method. For the moment, the highest derivative of the output signal is computed using the previous values of the other derivatives and the input signal, then integrated n times, which will most certainly induce a huge drift for ODEs with a high order at the denominator. More...
 
class  JointLimitator
 Filter control vector to avoid exceeding joint maximum values. More...
 
class  SotJointTrajectoryEntity
 This object handles trajectory of quantities and publish them as signals. More...
 
class  Kalman
 
class  Mailbox
 
class  MatrixConstant
 
class  MemoryTaskSOT
 
class  MotionPeriod
 
class  MultiBound
 
class  NeckLimitation
 
class  OpPointModifier
 Compute position and jacobian of a local frame attached to a joint. More...
 
class  PeriodicCallEntity
 
class  PeriodicCall
 
class  PoolStorage
 This singleton class keep tracks of all features and tasks. More...
 
class  RobotSimu
 
class  SeqPlay
 
class  Sequencer
 
class  SmoothReach
 
class  Sot
 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...
 
class  Switch
 
class  TaskAbstract
 Hierarchical element of the stack of tasks. More...
 
class  TaskConti
 
class  TaskPD
 
class  TaskUnilateral
 
class  Task
 Class that defines the basic elements of a task. More...
 
class  TimeStamp
 
class  RulesJointTrajectory
 
class  timestamp
 
class  Header
 
class  JointTrajectoryPoint
 
class  Trajectory
 
class  UnaryOp
 
class  VectorConstant
 
class  VectorToRotation
 
class  VisualPointProjecter
 

Typedefs

typedef NamedVector SensorValues
 
typedef NamedVector ControlValues
 
typedef Mailbox
< dynamicgraph::Vector
MailboxVector
 
typedef Eigen::Transform
< double, 3, Eigen::Affine >
SOT_CORE_EXPORT 
MatrixHomogeneous
 
typedef Eigen::Matrix< double, 3, 3 >
SOT_CORE_EXPORT 
MatrixRotation
 
typedef Eigen::AngleAxis
< double > SOT_CORE_EXPORT 
VectorUTheta
 
typedef Eigen::Quaternion
< double > SOT_CORE_EXPORT 
VectorQuaternion
 
typedef Eigen::Vector3d
SOT_CORE_EXPORT 
VectorRotation
 
typedef Eigen::Vector3d
SOT_CORE_EXPORT 
VectorRollPitchYaw
 
typedef Eigen::Matrix< double, 6, 6 >
SOT_CORE_EXPORT 
MatrixForce
 
typedef Eigen::Matrix< double, 6, 6 >
SOT_CORE_EXPORT 
MatrixTwist
 
typedef std::vector< MultiBoundVectorMultiBound
 

Enumerations

enum  ControlInput {
  CONTROL_INPUT_NO_INTEGRATION =0,
  CONTROL_INPUT_ONE_INTEGRATION =1,
  CONTROL_INPUT_TWO_INTEGRATION =2,
  CONTROL_INPUT_SIZE =3
}
 Define the type of input expected by the robot. More...
 

Functions

void sotDEBUGF (const int, const char *,...)
 
void sotDEBUGF (const char *,...)
 
void sotERRORF (const int, const char *,...)
 
void sotERRORF (const char *,...)
 
void sotTDEBUGF (const int, const char *,...)
 
void sotTDEBUGF (const char *,...)
 
void buildFrom (const MatrixHomogeneous &MH, MatrixTwist &MT)
 
SOT_CORE_EXPORT std::ostream & operator<< (std::ostream &os, const VectorMultiBound &v)
 
SOT_CORE_EXPORT std::istream & operator>> (std::istream &os, VectorMultiBound &v)
 

Variables

SOT_CORE_EXPORT DebugTrace sotDEBUGFLOW
 
SOT_CORE_EXPORT DebugTrace sotERRORFLOW
 
const std::string ControlInput_s []
 
SOT_CORE_EXPORT const Flags FLAG_LINE_1
 
SOT_CORE_EXPORT const Flags FLAG_LINE_2
 
SOT_CORE_EXPORT const Flags FLAG_LINE_3
 
SOT_CORE_EXPORT const Flags FLAG_LINE_4
 
SOT_CORE_EXPORT const Flags FLAG_LINE_5
 
SOT_CORE_EXPORT const Flags FLAG_LINE_6
 
SOT_CORE_EXPORT const Flags FLAG_LINE_7
 
SOT_CORE_EXPORT const Flags FLAG_LINE_8
 

Typedef Documentation

typedef Eigen::Transform<double,3, Eigen::Affine> SOT_CORE_EXPORT dynamicgraph::sot::MatrixHomogeneous
typedef Eigen::Quaternion<double> SOT_CORE_EXPORT dynamicgraph::sot::VectorQuaternion
typedef Eigen::AngleAxis<double> SOT_CORE_EXPORT dynamicgraph::sot::VectorUTheta

Enumeration Type Documentation

Define the type of input expected by the robot.

Enumerator
CONTROL_INPUT_NO_INTEGRATION 
CONTROL_INPUT_ONE_INTEGRATION 
CONTROL_INPUT_TWO_INTEGRATION 
CONTROL_INPUT_SIZE 

Function Documentation

void dynamicgraph::sot::buildFrom ( const MatrixHomogeneous &  MH,
MatrixTwist &  MT 
)
inline
SOT_CORE_EXPORT std::ostream& dynamicgraph::sot::operator<< ( std::ostream &  os,
const VectorMultiBound &  v 
)
SOT_CORE_EXPORT std::istream& dynamicgraph::sot::operator>> ( std::istream &  os,
VectorMultiBound &  v 
)
void dynamicgraph::sot::sotDEBUGF ( const int  ,
const char *  ,
  ... 
)
inline
void dynamicgraph::sot::sotDEBUGF ( const char *  ,
  ... 
)
inline
void dynamicgraph::sot::sotERRORF ( const int  ,
const char *  ,
  ... 
)
inline
void dynamicgraph::sot::sotERRORF ( const char *  ,
  ... 
)
inline
void dynamicgraph::sot::sotTDEBUGF ( const int  ,
const char *  ,
  ... 
)
inline
void dynamicgraph::sot::sotTDEBUGF ( const char *  ,
  ... 
)
inline

Variable Documentation

const std::string dynamicgraph::sot::ControlInput_s[]
Initial value:
=
{
"noInteg", "oneInteg", "twoInteg"
}
SOT_CORE_EXPORT const Flags dynamicgraph::sot::FLAG_LINE_3
SOT_CORE_EXPORT const Flags dynamicgraph::sot::FLAG_LINE_4
SOT_CORE_EXPORT const Flags dynamicgraph::sot::FLAG_LINE_5
SOT_CORE_EXPORT const Flags dynamicgraph::sot::FLAG_LINE_6
SOT_CORE_EXPORT const Flags dynamicgraph::sot::FLAG_LINE_7
SOT_CORE_EXPORT const Flags dynamicgraph::sot::FLAG_LINE_8
SOT_CORE_EXPORT DebugTrace dynamicgraph::sot::sotDEBUGFLOW
SOT_CORE_EXPORT DebugTrace dynamicgraph::sot::sotERRORFLOW