#include <stack-template.h>
Public Types | |
typedef std::list< const dg::SignalBase< int > * > | TaskDependancyList_t |
typedef std::list< const dg::SignalBase< int > * > | TaskDependancyList_t |
Public Member Functions | |
Stack (void) | |
~Stack (void) | |
virtual TaskDependancyList_t | getTaskDependancyList (const TaskGeneric &task)=0 |
Return the signal to be added/removed from the dependancy list of the control signal. More... | |
virtual void | addDependancy (const TaskDependancyList_t &depList)=0 |
virtual void | removeDependancy (const TaskDependancyList_t &depList)=0 |
virtual void | resetReady (void)=0 |
Stack (void) | |
~Stack (void) | |
virtual TaskDependancyList_t | getTaskDependancyList (const TaskGeneric &task)=0 |
Return the signal to be added/removed from the dependancy list of the control signal. More... | |
virtual void | addDependancy (const TaskDependancyList_t &depList)=0 |
virtual void | removeDependancy (const TaskDependancyList_t &depList)=0 |
virtual void | resetReady (void)=0 |
Methods to handle the stack. | |
virtual void | push (TaskGeneric &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 TaskGeneric & | 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... | |
virtual bool | exist (const TaskGeneric &task) |
This method allows to know if a task exists or not. More... | |
virtual void | remove (const TaskGeneric &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 TaskGeneric &task) |
This method makes the task to swap with the task having the immediate superior priority. More... | |
virtual void | down (const TaskGeneric &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 | defineNbDof (const int &nbDof) |
virtual void | push (TaskGeneric &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 TaskGeneric & | 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... | |
virtual bool | exist (const TaskGeneric &task) |
This method allows to know if a task exists or not. More... | |
virtual void | remove (const TaskGeneric &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 TaskGeneric &task) |
This method makes the task to swap with the task having the immediate superior priority. More... | |
virtual void | down (const TaskGeneric &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 | defineNbDof (const int &nbDof) |
Methods to display the stack of tasks. | |
virtual void | display (std::ostream &os) const |
virtual std::ostream & | writeGraph (const std::string &name, std::ostream &os) const |
Write the priority between tasks in the outstream os. More... | |
virtual void | display (std::ostream &os) const |
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) |
Public Attributes | |
dg::SignalBase< int > * | tatata |
int | titit |
int | totol |
Static Public Attributes | |
static const unsigned int | NB_JOINTS_DEFAULT = 46 |
Number of joints by default. More... | |
Protected Types | |
typedef std::vector < TaskGeneric * > | Stack_t |
typedef Stack_t::iterator | StackIterator_t |
typedef Stack_t::const_iterator | StackConstIterator_t |
typedef std::vector < TaskGeneric * > | Stack_t |
typedef Stack_t::iterator | StackIterator_t |
typedef Stack_t::const_iterator | StackConstIterator_t |
Protected Attributes | |
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... | |
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protected |
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protected |
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protected |
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protected |
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protected |
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protected |
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::Stack< TaskGeneric >::Stack | ( | void | ) |
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inline |
dynamicgraph::sot::Stack< TaskGeneric >::Stack | ( | void | ) |
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inline |
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pure virtual |
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pure virtual |
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virtual |
Remove all the tasks from the stack.
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virtual |
Remove all the tasks from the stack.
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virtual |
Change the number of DOF, ie the field nbDofs.
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virtual |
Change the number of DOF, ie the field nbDofs.
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virtual |
Display the stack of tasks in text mode as a tree.
Reimplemented in dynamicgraph::sot::dyninv::SolverDynReduced, dynamicgraph::sot::dyninv::SolverDynReduced, dynamicgraph::sot::dyninv::SolverKine, dynamicgraph::sot::dyninv::SolverOpSpace, dynamicgraph::sot::dyninv::SolverKine, and dynamicgraph::sot::dyninv::SolverOpSpace.
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virtual |
Display the stack of tasks in text mode as a tree.
Reimplemented in dynamicgraph::sot::dyninv::SolverDynReduced, dynamicgraph::sot::dyninv::SolverDynReduced, dynamicgraph::sot::dyninv::SolverKine, dynamicgraph::sot::dyninv::SolverOpSpace, dynamicgraph::sot::dyninv::SolverKine, and dynamicgraph::sot::dyninv::SolverOpSpace.
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This method makes the task to swap with the task having the immediate inferior priority.
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virtual |
This method makes the task to swap with the task having the immediate inferior priority.
void dynamicgraph::sot::Stack< TaskGeneric >::downByTaskName | ( | const std::string & | taskName | ) |
void dynamicgraph::sot::Stack< TaskGeneric >::downByTaskName | ( | const std::string & | taskName | ) |
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virtual |
This method allows to know if a task exists or not.
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virtual |
This method allows to know if a task exists or not.
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pure virtual |
Return the signal to be added/removed from the dependancy list of the control signal.
Implemented in dynamicgraph::sot::dyninv::SolverKine, and dynamicgraph::sot::dyninv::SolverKine.
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pure virtual |
Return the signal to be added/removed from the dependancy list of the control signal.
Implemented in dynamicgraph::sot::dyninv::SolverKine, and dynamicgraph::sot::dyninv::SolverKine.
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virtual |
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.
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virtual |
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.
void dynamicgraph::sot::Stack< TaskGeneric >::pop0 | ( | void | ) |
same as pop, but no return.
void dynamicgraph::sot::Stack< TaskGeneric >::pop0 | ( | void | ) |
same as pop, but no return.
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virtual |
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.
Reimplemented in dynamicgraph::sot::dyninv::SolverKine, and dynamicgraph::sot::dyninv::SolverKine.
Referenced by dynamicgraph::sot::dyninv::SolverKine::push().
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virtual |
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.
Reimplemented in dynamicgraph::sot::dyninv::SolverKine, and dynamicgraph::sot::dyninv::SolverKine.
void dynamicgraph::sot::Stack< TaskGeneric >::pushByTaskName | ( | const std::string & | taskName | ) |
void dynamicgraph::sot::Stack< TaskGeneric >::pushByTaskName | ( | const std::string & | taskName | ) |
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virtual |
Remove a task regardless to its position in the stack. It removes also the signals connected to the output signal of this stack.
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virtual |
Remove a task regardless to its position in the stack. It removes also the signals connected to the output signal of this stack.
void dynamicgraph::sot::Stack< TaskGeneric >::removeByTaskName | ( | const std::string & | taskName | ) |
void dynamicgraph::sot::Stack< TaskGeneric >::removeByTaskName | ( | const std::string & | taskName | ) |
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pure virtual |
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pure virtual |
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pure virtual |
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pure virtual |
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virtual |
This method makes the task to swap with the task having the immediate superior priority.
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virtual |
This method makes the task to swap with the task having the immediate superior priority.
void dynamicgraph::sot::Stack< TaskGeneric >::upByTaskName | ( | const std::string & | taskName | ) |
void dynamicgraph::sot::Stack< TaskGeneric >::upByTaskName | ( | const std::string & | taskName | ) |
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virtual |
Write the priority between tasks in the outstream os.
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virtual |
Write the priority between tasks in the outstream os.
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static |
Number of joints by default.
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protected |
Number of joints to be used to compute the control law.
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protected |
List of task (controllers) managed by the stack of tasks.
dg::SignalBase< int > * dynamicgraph::sot::Stack< TaskGeneric >::tatata |
int dynamicgraph::sot::Stack< TaskGeneric >::titit |
int dynamicgraph::sot::Stack< TaskGeneric >::totol |