All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Macros Groups Pages
dynamicgraph::sot::TaskAbstract Class Reference

Hierarchical element of the stack of tasks. More...

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

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

Classes

class  MemoryTaskAbstract
 

Public Member Functions

 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 const std::string & getClassName () const =0
 
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 & writeGraph (std::ostream &os) const
 
virtual std::ostream & writeCompletionList (std::ostream &os) const
 
virtual void display (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

MemoryTaskAbstractmemoryInternal
 
dg::SignalTimeDependent
< VectorMultiBound, int > 
taskSOUT
 
dg::SignalTimeDependent
< dg::Matrix, int > 
jacobianSOUT
 

Protected Member Functions

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)
 

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 Attributes inherited from dynamicgraph::Entity
std::string name
 
SignalMap signalMap
 
CommandMap_t commandMap
 

Detailed Description

Hierarchical element of the stack of tasks.

A task computes a value and a Jacobian as output signals. Once stacked into a solver, the solver will compute the control vector that makes the task values converge toward zero in the order defined by the priority levels.

task.png
Task diagram: Task types derive from TaskAbstract. The value and Jacobian of a Task are computed from the features that are stored in the task.

Constructor & Destructor Documentation

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

Member Function Documentation

void dynamicgraph::sot::TaskAbstract::taskRegistration ( void  )
protected

Member Data Documentation

dg::SignalTimeDependent< dg::Matrix,int > dynamicgraph::sot::TaskAbstract::jacobianSOUT
MemoryTaskAbstract* dynamicgraph::sot::TaskAbstract::memoryInternal
dg::SignalTimeDependent< VectorMultiBound,int > dynamicgraph::sot::TaskAbstract::taskSOUT