#include <task-dyn-joint-limits.h>
Public Types | |
typedef TaskDynJointLimits | EntityClassName |
typedef TaskDynJointLimits | EntityClassName |
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typedef std::map< std::string, SignalBase< int > * > | SignalMap |
typedef std::map< const std::string, command::Command * > | CommandMap_t |
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typedef Ent | EntityClassName |
typedef Ent | EntityClassName |
typedef Ent | EntityClassName |
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typedef Ent | EntityClassName |
typedef Ent | EntityClassName |
typedef Ent | EntityClassName |
Public Member Functions | |
TaskDynJointLimits (const std::string &name) | |
DECLARE_SIGNAL_IN (position, ml::Vector) | |
DECLARE_SIGNAL_IN (velocity, ml::Vector) | |
DECLARE_SIGNAL_IN (referenceInf, ml::Vector) | |
DECLARE_SIGNAL_IN (referenceSup, ml::Vector) | |
DECLARE_SIGNAL_OUT (normalizedPosition, ml::Vector) | |
dg::sot::VectorMultiBound & | computeTaskDynJointLimits (dg::sot::VectorMultiBound &res, int time) |
ml::Matrix & | computeTjlJacobian (ml::Matrix &J, int time) |
ml::Matrix & | computeTjlJdot (ml::Matrix &Jdot, int time) |
TaskDynJointLimits (const std::string &name) | |
DECLARE_SIGNAL_IN (position, ml::Vector) | |
DECLARE_SIGNAL_IN (velocity, ml::Vector) | |
DECLARE_SIGNAL_IN (referenceInf, ml::Vector) | |
DECLARE_SIGNAL_IN (referenceSup, ml::Vector) | |
DECLARE_SIGNAL_OUT (normalizedPosition, ml::Vector) | |
dg::sot::VectorMultiBound & | computeTaskDynJointLimits (dg::sot::VectorMultiBound &res, int time) |
ml::Matrix & | computeTjlJacobian (ml::Matrix &J, int time) |
ml::Matrix & | computeTjlJdot (ml::Matrix &Jdot, int time) |
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TaskDynPD (const std::string &name) | |
DECLARE_SIGNAL_IN (Kv, double) | |
DECLARE_SIGNAL_IN (qdot, ml::Vector) | |
DECLARE_SIGNAL_IN (dt, double) | |
DECLARE_SIGNAL_OUT (errorDot, ml::Vector) | |
DECLARE_SIGNAL_OUT (KvAuto, double) | |
DECLARE_SIGNAL_OUT (Jdot, ml::Matrix) | |
DECLARE_SIGNAL_OUT (taskVector, ml::Vector) | |
void | resetJacobianDerivative (void) |
TaskDynPD (const std::string &name) | |
DECLARE_SIGNAL_IN (Kv, double) | |
DECLARE_SIGNAL_IN (qdot, ml::Vector) | |
DECLARE_SIGNAL_IN (dt, double) | |
DECLARE_SIGNAL_OUT (errorDot, ml::Vector) | |
DECLARE_SIGNAL_OUT (KvAuto, double) | |
DECLARE_SIGNAL_OUT (Jdot, ml::Matrix) | |
DECLARE_SIGNAL_OUT (taskVector, ml::Vector) | |
void | resetJacobianDerivative (void) |
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virtual void | commandLine (const std::string &cmdLine, std::istringstream &cmdArgs, std::ostream &os) |
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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 SignalBase< int > * | test () |
virtual void | test2 (SignalBase< int > *) |
const std::string & | getCommandList () const |
CommandMap_t | getNewStyleCommandMap () |
command::Command * | getNewStyleCommand (const std::string &cmdName) |
SignalMap | getSignalMap () const |
Protected Attributes | |
ml::Matrix | previousJ |
bool | previousJset |
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ml::Matrix | previousJ |
bool | previousJset |
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std::string | name |
SignalMap | signalMap |
CommandMap_t | commandMap |
Additional Inherited Members | |
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dynamicgraph::sot::VectorMultiBound & | taskSOUT_function (dynamicgraph::sot::VectorMultiBound &task, int iter) |
dynamicgraph::sot::VectorMultiBound & | taskSOUT_function (dynamicgraph::sot::VectorMultiBound &task, int iter) |
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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) |
dynamicgraph::sot::dyninv::TaskDynJointLimits::TaskDynJointLimits | ( | const std::string & | name | ) |
dynamicgraph::sot::dyninv::TaskDynJointLimits::TaskDynJointLimits | ( | const std::string & | name | ) |
dg::sot::VectorMultiBound & dynamicgraph::sot::dyninv::TaskDynJointLimits::computeTaskDynJointLimits | ( | dg::sot::VectorMultiBound & | res, |
int | time | ||
) |
References dynamicgraph::Entity::getName(), maal::boost::Vector::size(), sotDEBUG, sotDEBUGIN, and sotDEBUGOUT.
Referenced by TaskDynJointLimits().
dg::sot::VectorMultiBound& dynamicgraph::sot::dyninv::TaskDynJointLimits::computeTaskDynJointLimits | ( | dg::sot::VectorMultiBound & | res, |
int | time | ||
) |
ml::Matrix & dynamicgraph::sot::dyninv::TaskDynJointLimits::computeTjlJacobian | ( | ml::Matrix & | J, |
int | time | ||
) |
References maal::boost::Matrix::resize(), maal::boost::Matrix::setZero(), maal::boost::Vector::size(), and sotDEBUG.
Referenced by TaskDynJointLimits().
ml::Matrix& dynamicgraph::sot::dyninv::TaskDynJointLimits::computeTjlJacobian | ( | ml::Matrix & | J, |
int | time | ||
) |
ml::Matrix & dynamicgraph::sot::dyninv::TaskDynJointLimits::computeTjlJdot | ( | ml::Matrix & | Jdot, |
int | time | ||
) |
References maal::boost::Matrix::fill(), maal::boost::Matrix::nbCols(), maal::boost::Matrix::nbRows(), previousJ, previousJset, maal::boost::Matrix::resize(), sotDEBUGIN, and sotDEBUGOUT.
Referenced by TaskDynJointLimits().
ml::Matrix& dynamicgraph::sot::dyninv::TaskDynJointLimits::computeTjlJdot | ( | ml::Matrix & | Jdot, |
int | time | ||
) |
dynamicgraph::sot::dyninv::TaskDynJointLimits::DECLARE_SIGNAL_IN | ( | position | , |
ml::Vector | |||
) |
dynamicgraph::sot::dyninv::TaskDynJointLimits::DECLARE_SIGNAL_IN | ( | position | , |
ml::Vector | |||
) |
dynamicgraph::sot::dyninv::TaskDynJointLimits::DECLARE_SIGNAL_IN | ( | velocity | , |
ml::Vector | |||
) |
dynamicgraph::sot::dyninv::TaskDynJointLimits::DECLARE_SIGNAL_IN | ( | velocity | , |
ml::Vector | |||
) |
dynamicgraph::sot::dyninv::TaskDynJointLimits::DECLARE_SIGNAL_IN | ( | referenceInf | , |
ml::Vector | |||
) |
dynamicgraph::sot::dyninv::TaskDynJointLimits::DECLARE_SIGNAL_IN | ( | referenceInf | , |
ml::Vector | |||
) |
dynamicgraph::sot::dyninv::TaskDynJointLimits::DECLARE_SIGNAL_IN | ( | referenceSup | , |
ml::Vector | |||
) |
dynamicgraph::sot::dyninv::TaskDynJointLimits::DECLARE_SIGNAL_IN | ( | referenceSup | , |
ml::Vector | |||
) |
dynamicgraph::sot::dyninv::TaskDynJointLimits::DECLARE_SIGNAL_OUT | ( | normalizedPosition | , |
ml::Vector | |||
) |
dynamicgraph::sot::dyninv::TaskDynJointLimits::DECLARE_SIGNAL_OUT | ( | normalizedPosition | , |
ml::Vector | |||
) |
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protected |
Referenced by computeTjlJdot().
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protected |
Referenced by computeTjlJdot().