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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)
 
dg::VectorcomputeErrorDot (dg::Vector &error, int time)
 
VectorMultiBoundcomputeTaskModif (VectorMultiBound &error, int time)
 
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)
 
dg::VectorcomputeError (dg::Vector &error, int time)
 
VectorMultiBoundcomputeTaskExponentialDecrease (VectorMultiBound &errorRef, int time)
 
dg::MatrixcomputeJacobian (dg::Matrix &J, int time)
 
dg::VectorcomputeErrorTimeDerivative (dg::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

dg::Vector previousError
 
double beta
 
dg::SignalTimeDependent
< dg::Vector, int > 
errorDotSOUT
 
dg::SignalPtr< dg::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
< dg::Vector, int > 
errorSOUT
 
dg::SignalTimeDependent
< dg::Vector, int > 
errorTimeDerivativeSOUT
 
- Public Attributes inherited from dynamicgraph::sot::TaskAbstract
MemoryTaskAbstractmemoryInternal
 
dg::SignalTimeDependent
< VectorMultiBound, int > 
taskSOUT
 
dg::SignalTimeDependent
< dg::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

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

Member Function Documentation

dg::Vector& dynamicgraph::sot::TaskPD::computeErrorDot ( dg::Vector error,
int  time 
)
VectorMultiBound& dynamicgraph::sot::TaskPD::computeTaskModif ( VectorMultiBound error,
int  time 
)
virtual const std::string& dynamicgraph::sot::TaskPD::getClassName ( void  ) const
inlinevirtual

Reimplemented from dynamicgraph::Entity.

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

Member Data Documentation

double dynamicgraph::sot::TaskPD::beta
const std::string dynamicgraph::sot::TaskPD::CLASS_NAME
static
dg::SignalPtr< dg::Vector,int > dynamicgraph::sot::TaskPD::errorDotSIN
dg::SignalTimeDependent< dg::Vector,int > dynamicgraph::sot::TaskPD::errorDotSOUT
dg::Vector dynamicgraph::sot::TaskPD::previousError