#include <solver-op-space.h>
Public Types | |
typedef sot::Stack< TaskDynPD > | stack_t |
typedef sot::Stack< TaskDynPD > | stack_t |
typedef std::list< const dg::SignalBase< int > * > | TaskDependancyList_t |
typedef std::list< const dg::SignalBase< int > * > | TaskDependancyList_t |
typedef Stack_t::iterator | StackIterator_t |
typedef Stack_t::iterator | StackIterator_t |
typedef Stack_t::const_iterator | StackConstIterator_t |
typedef Stack_t::const_iterator | StackConstIterator_t |
typedef std::list< const dg::SignalBase< int > * > | TaskDependancyList_t |
typedef std::list< const dg::SignalBase< int > * > | TaskDependancyList_t |
typedef Stack_t::iterator | StackIterator_t |
typedef Stack_t::iterator | StackIterator_t |
typedef Stack_t::const_iterator | StackConstIterator_t |
typedef Stack_t::const_iterator | StackConstIterator_t |
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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 std::list< const dg::SignalBase< int > * > | TaskDependancyList_t |
typedef std::list< const dg::SignalBase< int > * > | TaskDependancyList_t |
Public Member Functions | |
SolverOpSpace (const std::string &name) | |
virtual TaskDependancyList_t | getTaskDependancyList (const TaskDynPD &task) |
virtual void | addDependancy (const TaskDependancyList_t &depList) |
virtual void | removeDependancy (const TaskDependancyList_t &depList) |
virtual void | resetReady (void) |
virtual void | display (std::ostream &os) const |
DECLARE_SIGNAL_IN (matrixInertia, ml::Matrix) | |
DECLARE_SIGNAL_IN (velocity, ml::Vector) | |
DECLARE_SIGNAL_IN (dyndrift, ml::Vector) | |
DECLARE_SIGNAL_IN (damping, double) | |
DECLARE_SIGNAL_IN (breakFactor, double) | |
DECLARE_SIGNAL_IN (posture, ml::Vector) | |
DECLARE_SIGNAL_IN (position, ml::Vector) | |
DECLARE_SIGNAL_OUT (control, ml::Vector) | |
DECLARE_SIGNAL (zmp, OUT, ml::Vector) | |
DECLARE_SIGNAL (acceleration, OUT, ml::Vector) | |
void | addContact (const std::string &name, dynamicgraph::Signal< ml::Matrix, int > *jacobianSignal, dynamicgraph::Signal< ml::Matrix, int > *JdotSignal, dynamicgraph::Signal< ml::Vector, int > *corrSignal, dynamicgraph::Signal< ml::Matrix, int > *contactPointsSignal) |
void | addContactFromTask (const std::string &taskName, const std::string &contactName) |
void | removeContact (const std::string &name) |
void | dispContacts (std::ostream &os) const |
void | debugOnce (void) |
SolverOpSpace (const std::string &name) | |
virtual TaskDependancyList_t | getTaskDependancyList (const TaskDynPD &task) |
virtual void | addDependancy (const TaskDependancyList_t &depList) |
virtual void | removeDependancy (const TaskDependancyList_t &depList) |
virtual void | resetReady (void) |
virtual void | display (std::ostream &os) const |
DECLARE_SIGNAL_IN (matrixInertia, ml::Matrix) | |
DECLARE_SIGNAL_IN (velocity, ml::Vector) | |
DECLARE_SIGNAL_IN (dyndrift, ml::Vector) | |
DECLARE_SIGNAL_IN (damping, double) | |
DECLARE_SIGNAL_IN (breakFactor, double) | |
DECLARE_SIGNAL_IN (posture, ml::Vector) | |
DECLARE_SIGNAL_IN (position, ml::Vector) | |
DECLARE_SIGNAL_OUT (control, ml::Vector) | |
DECLARE_SIGNAL (zmp, OUT, ml::Vector) | |
DECLARE_SIGNAL (acceleration, OUT, ml::Vector) | |
void | addContact (const std::string &name, dynamicgraph::Signal< ml::Matrix, int > *jacobianSignal, dynamicgraph::Signal< ml::Matrix, int > *JdotSignal, dynamicgraph::Signal< ml::Vector, int > *corrSignal, dynamicgraph::Signal< ml::Matrix, int > *contactPointsSignal) |
void | addContactFromTask (const std::string &taskName, const std::string &contactName) |
void | removeContact (const std::string &name) |
void | dispContacts (std::ostream &os) const |
void | debugOnce (void) |
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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 void | commandLine (const std::string &cmdLine, std::istringstream &cmdArgs, std::ostream &os) |
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 |
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Stack (void) | |
Stack (void) | |
~Stack (void) | |
~Stack (void) | |
virtual TaskDependancyList_t | getTaskDependancyList (const TaskDynPD &task)=0 |
Return the signal to be added/removed from the dependancy list of the control signal. More... | |
virtual TaskDependancyList_t | getTaskDependancyList (const TaskDynPD &task)=0 |
Return the signal to be added/removed from the dependancy list of the control signal. More... | |
virtual void | push (TaskDynPD &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... | |
virtual void | push (TaskDynPD &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... | |
virtual TaskDynPD & | 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. More... | |
virtual TaskDynPD & | 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. More... | |
void | pop0 (void) |
same as pop, but no return. More... | |
void | pop0 (void) |
same as pop, but no return. More... | |
virtual bool | exist (const TaskDynPD &task) |
This method allows to know if a task exists or not. More... | |
virtual bool | exist (const TaskDynPD &task) |
This method allows to know if a task exists or not. More... | |
virtual void | remove (const TaskDynPD &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... | |
virtual void | remove (const TaskDynPD &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... | |
virtual void | up (const TaskDynPD &task) |
This method makes the task to swap with the task having the immediate superior priority. More... | |
virtual void | up (const TaskDynPD &task) |
This method makes the task to swap with the task having the immediate superior priority. More... | |
virtual void | down (const TaskDynPD &task) |
This method makes the task to swap with the task having the immediate inferior priority. More... | |
virtual void | down (const TaskDynPD &task) |
This method makes the task to swap with the task having the immediate inferior priority. More... | |
virtual void | clear (void) |
Remove all the tasks from the stack. More... | |
virtual void | clear (void) |
Remove all the tasks from the stack. More... | |
virtual void | defineNbDof (const int &nbDof) |
virtual void | defineNbDof (const int &nbDof) |
virtual std::ostream & | writeGraph (const std::string &name, std::ostream &os) const |
Write the priority between tasks in the outstream os. More... | |
virtual std::ostream & | writeGraph (const std::string &name, std::ostream &os) const |
Write the priority between tasks in the outstream os. More... | |
void | pushByTaskName (const std::string &taskName) |
void | removeByTaskName (const std::string &taskName) |
void | upByTaskName (const std::string &taskName) |
void | downByTaskName (const std::string &taskName) |
void | pushByTaskName (const std::string &taskName) |
void | removeByTaskName (const std::string &taskName) |
void | upByTaskName (const std::string &taskName) |
void | downByTaskName (const std::string &taskName) |
Additional Inherited Members | |
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dg::SignalBase< int > * | tatata |
int | titit |
int | totol |
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static const unsigned int | NB_JOINTS_DEFAULT |
Number of joints by default. More... | |
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typedef std::vector< TaskDynPD * > | Stack_t |
typedef std::vector< TaskDynPD * > | Stack_t |
typedef Stack_t::iterator | StackIterator_t |
typedef Stack_t::iterator | StackIterator_t |
typedef Stack_t::const_iterator | StackConstIterator_t |
typedef Stack_t::const_iterator | StackConstIterator_t |
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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) |
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std::string | name |
SignalMap | signalMap |
CommandMap_t | commandMap |
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Stack_t | stack |
List of task (controllers) managed by the stack of tasks. More... | |
int | nbDofs |
Number of joints to be used to compute the control law. More... | |
typedef Stack_t::const_iterator dynamicgraph::sot::Stack< TaskGeneric >::StackConstIterator_t |
typedef Stack_t::const_iterator dynamicgraph::sot::Stack< TaskGeneric >::StackConstIterator_t |
typedef Stack_t::const_iterator dynamicgraph::sot::Stack< TaskGeneric >::StackConstIterator_t |
typedef Stack_t::const_iterator dynamicgraph::sot::Stack< TaskGeneric >::StackConstIterator_t |
typedef Stack_t::iterator dynamicgraph::sot::Stack< TaskGeneric >::StackIterator_t |
typedef Stack_t::iterator dynamicgraph::sot::Stack< TaskGeneric >::StackIterator_t |
typedef Stack_t::iterator dynamicgraph::sot::Stack< TaskGeneric >::StackIterator_t |
typedef Stack_t::iterator dynamicgraph::sot::Stack< TaskGeneric >::StackIterator_t |
typedef std::list< const dg::SignalBase<int>* > dynamicgraph::sot::Stack< TaskGeneric >::TaskDependancyList_t |
typedef std::list< const dg::SignalBase<int>* > dynamicgraph::sot::Stack< TaskGeneric >::TaskDependancyList_t |
typedef std::list< const dg::SignalBase<int>* > dynamicgraph::sot::Stack< TaskGeneric >::TaskDependancyList_t |
typedef std::list< const dg::SignalBase<int>* > dynamicgraph::sot::Stack< TaskGeneric >::TaskDependancyList_t |
dynamicgraph::sot::dyninv::SolverOpSpace::SolverOpSpace | ( | const std::string & | name | ) |
References ADD_COMMANDS_FOR_THE_STACK, dynamicgraph::Entity::addCommand(), addContact(), addContactFromTask(), debugOnce(), dispContacts(), docCommandVerbose(), docCommandVoid0(), docCommandVoid1(), docCommandVoid2(), makeCommandVerbose(), makeCommandVoid0(), makeCommandVoid1(), makeCommandVoid2(), removeContact(), and dynamicgraph::Entity::signalRegistration().
dynamicgraph::sot::dyninv::SolverOpSpace::SolverOpSpace | ( | const std::string & | name | ) |
void dynamicgraph::sot::dyninv::SolverOpSpace::addContact | ( | const std::string & | name, |
dynamicgraph::Signal< ml::Matrix, int > * | jacobianSignal, | ||
dynamicgraph::Signal< ml::Matrix, int > * | JdotSignal, | ||
dynamicgraph::Signal< ml::Vector, int > * | corrSignal, | ||
dynamicgraph::Signal< ml::Matrix, int > * | contactPointsSignal | ||
) |
References dynamicgraph::Entity::getName(), dynamicgraph::Entity::name, and dynamicgraph::Entity::signalRegistration().
Referenced by addContactFromTask(), and SolverOpSpace().
void dynamicgraph::sot::dyninv::SolverOpSpace::addContact | ( | const std::string & | name, |
dynamicgraph::Signal< ml::Matrix, int > * | jacobianSignal, | ||
dynamicgraph::Signal< ml::Matrix, int > * | JdotSignal, | ||
dynamicgraph::Signal< ml::Vector, int > * | corrSignal, | ||
dynamicgraph::Signal< ml::Matrix, int > * | contactPointsSignal | ||
) |
void dynamicgraph::sot::dyninv::SolverOpSpace::addContactFromTask | ( | const std::string & | taskName, |
const std::string & | contactName | ||
) |
References addContact(), dynamicgraph::g_pool(), and dynamicgraph::PoolStorage::getEntity().
Referenced by SolverOpSpace().
void dynamicgraph::sot::dyninv::SolverOpSpace::addContactFromTask | ( | const std::string & | taskName, |
const std::string & | contactName | ||
) |
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virtual |
Implements dynamicgraph::sot::Stack< TaskDynPD >.
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virtual |
Implements dynamicgraph::sot::Stack< TaskDynPD >.
void dynamicgraph::sot::dyninv::SolverOpSpace::debugOnce | ( | void | ) |
void dynamicgraph::sot::dyninv::SolverOpSpace::debugOnce | ( | void | ) |
Referenced by SolverOpSpace().
dynamicgraph::sot::dyninv::SolverOpSpace::DECLARE_SIGNAL | ( | zmp | , |
OUT | , | ||
ml::Vector | |||
) |
dynamicgraph::sot::dyninv::SolverOpSpace::DECLARE_SIGNAL | ( | zmp | , |
OUT | , | ||
ml::Vector | |||
) |
dynamicgraph::sot::dyninv::SolverOpSpace::DECLARE_SIGNAL | ( | acceleration | , |
OUT | , | ||
ml::Vector | |||
) |
dynamicgraph::sot::dyninv::SolverOpSpace::DECLARE_SIGNAL | ( | acceleration | , |
OUT | , | ||
ml::Vector | |||
) |
dynamicgraph::sot::dyninv::SolverOpSpace::DECLARE_SIGNAL_IN | ( | matrixInertia | , |
ml::Matrix | |||
) |
dynamicgraph::sot::dyninv::SolverOpSpace::DECLARE_SIGNAL_IN | ( | matrixInertia | , |
ml::Matrix | |||
) |
dynamicgraph::sot::dyninv::SolverOpSpace::DECLARE_SIGNAL_IN | ( | velocity | , |
ml::Vector | |||
) |
dynamicgraph::sot::dyninv::SolverOpSpace::DECLARE_SIGNAL_IN | ( | velocity | , |
ml::Vector | |||
) |
dynamicgraph::sot::dyninv::SolverOpSpace::DECLARE_SIGNAL_IN | ( | dyndrift | , |
ml::Vector | |||
) |
dynamicgraph::sot::dyninv::SolverOpSpace::DECLARE_SIGNAL_IN | ( | dyndrift | , |
ml::Vector | |||
) |
dynamicgraph::sot::dyninv::SolverOpSpace::DECLARE_SIGNAL_IN | ( | damping | , |
double | |||
) |
dynamicgraph::sot::dyninv::SolverOpSpace::DECLARE_SIGNAL_IN | ( | damping | , |
double | |||
) |
dynamicgraph::sot::dyninv::SolverOpSpace::DECLARE_SIGNAL_IN | ( | breakFactor | , |
double | |||
) |
dynamicgraph::sot::dyninv::SolverOpSpace::DECLARE_SIGNAL_IN | ( | breakFactor | , |
double | |||
) |
dynamicgraph::sot::dyninv::SolverOpSpace::DECLARE_SIGNAL_IN | ( | posture | , |
ml::Vector | |||
) |
dynamicgraph::sot::dyninv::SolverOpSpace::DECLARE_SIGNAL_IN | ( | posture | , |
ml::Vector | |||
) |
dynamicgraph::sot::dyninv::SolverOpSpace::DECLARE_SIGNAL_IN | ( | position | , |
ml::Vector | |||
) |
dynamicgraph::sot::dyninv::SolverOpSpace::DECLARE_SIGNAL_IN | ( | position | , |
ml::Vector | |||
) |
dynamicgraph::sot::dyninv::SolverOpSpace::DECLARE_SIGNAL_OUT | ( | control | , |
ml::Vector | |||
) |
dynamicgraph::sot::dyninv::SolverOpSpace::DECLARE_SIGNAL_OUT | ( | control | , |
ml::Vector | |||
) |
void dynamicgraph::sot::dyninv::SolverOpSpace::dispContacts | ( | std::ostream & | os | ) | const |
Referenced by display(), and SolverOpSpace().
void dynamicgraph::sot::dyninv::SolverOpSpace::dispContacts | ( | std::ostream & | os | ) | const |
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virtual |
Reimplemented from dynamicgraph::Entity.
References dispContacts(), dynamicgraph::sot::Stack< TaskDynPD >::display(), dynamicgraph::Entity::getName(), and dynamicgraph::sot::Stack< TaskDynPD >::nbDofs.
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virtual |
Reimplemented from dynamicgraph::Entity.
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virtual |
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virtual |
void dynamicgraph::sot::dyninv::SolverOpSpace::removeContact | ( | const std::string & | name | ) |
References dynamicgraph::Entity::signalDeregistration(), and dynamicgraph::sot::dyninv::signalShortName().
Referenced by SolverOpSpace().
void dynamicgraph::sot::dyninv::SolverOpSpace::removeContact | ( | const std::string & | name | ) |
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virtual |
Implements dynamicgraph::sot::Stack< TaskDynPD >.
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virtual |
Implements dynamicgraph::sot::Stack< TaskDynPD >.
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virtual |
Implements dynamicgraph::sot::Stack< TaskDynPD >.
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virtual |
Implements dynamicgraph::sot::Stack< TaskDynPD >.