#include <task-dyn-passing-point.h>
Public Types | |
typedef TaskDynPassingPoint | EntityClassName |
typedef TaskDynPassingPoint | EntityClassName |
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typedef std::list< FeatureAbstract * > | FeatureList_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 Ent | EntityClassName |
typedef Ent | EntityClassName |
typedef Ent | EntityClassName |
Public Member Functions | |
TaskDynPassingPoint (const std::string &name) | |
virtual void | display (std::ostream &os) const |
DECLARE_SIGNAL_IN (velocityDes, ml::Vector) | |
DECLARE_SIGNAL_IN (duration, double) | |
DECLARE_SIGNAL_IN (initialTime, double) | |
DECLARE_SIGNAL_OUT (velocityCurrent, ml::Vector) | |
DECLARE_SIGNAL_OUT (velocityDesired, ml::Vector) | |
TaskDynPassingPoint (const std::string &name) | |
virtual void | display (std::ostream &os) const |
DECLARE_SIGNAL_IN (velocityDes, ml::Vector) | |
DECLARE_SIGNAL_IN (duration, double) | |
DECLARE_SIGNAL_IN (initialTime, double) | |
DECLARE_SIGNAL_OUT (velocityCurrent, ml::Vector) | |
DECLARE_SIGNAL_OUT (velocityDesired, ml::Vector) | |
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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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Task (const std::string &n) | |
void | initCommands (void) |
void | addFeature (FeatureAbstract &s) |
void | addFeatureFromName (const std::string &name) |
void | clearFeatureList (void) |
FeatureList_t & | getFeatureList (void) |
void | setControlSelection (const Flags &act) |
void | addControlSelection (const Flags &act) |
void | clearControlSelection (void) |
void | setWithDerivative (const bool &s) |
bool | getWithDerivative (void) |
ml::Vector & | computeError (ml::Vector &error, int time) |
VectorMultiBound & | computeTaskExponentialDecrease (VectorMultiBound &errorRef, int time) |
ml::Matrix & | computeJacobian (ml::Matrix &J, int time) |
ml::Vector & | computeErrorTimeDerivative (ml::Vector &res, int time) |
virtual void | commandLine (const std::string &cmdLine, std::istringstream &cmdArgs, std::ostream &os) |
virtual std::ostream & | writeGraph (std::ostream &os) const |
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TaskAbstract (const std::string &n) | |
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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 & | 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 Member Functions | |
dg::sot::VectorMultiBound & | computeTaskSOUT (dg::sot::VectorMultiBound &task, int iter) |
dg::sot::VectorMultiBound & | computeTaskSOUT (dg::sot::VectorMultiBound &task, int iter) |
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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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DYNAMIC_GRAPH_ENTITY_DECL () | |
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void | taskRegistration (void) |
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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) |
Additional Inherited Members | |
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dg::SignalPtr< double, int > | controlGainSIN |
dg::SignalPtr< double, int > | dampingGainSINOUT |
dg::SignalPtr< Flags, int > | controlSelectionSIN |
dg::SignalTimeDependent< ml::Vector, int > | errorSOUT |
dg::SignalTimeDependent< ml::Vector, int > | errorTimeDerivativeSOUT |
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MemoryTaskAbstract * | memoryInternal |
dg::SignalTimeDependent< VectorMultiBound, int > | taskSOUT |
dg::SignalTimeDependent< ml::Matrix, int > | jacobianSOUT |
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ml::Matrix | previousJ |
bool | previousJset |
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FeatureList_t | featureList |
bool | withDerivative |
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std::string | name |
SignalMap | signalMap |
CommandMap_t | commandMap |
dynamicgraph::sot::dyninv::TaskDynPassingPoint::TaskDynPassingPoint | ( | const std::string & | name | ) |
Constructor
name | Name of the task (string) |
References dynamicgraph::SignalTimeDependent< T, Time >::addDependency(), computeTaskSOUT(), dynamicgraph::sot::Task::controlSelectionSIN, dynamicgraph::sot::TaskAbstract::jacobianSOUT, maal::boost::Matrix::multiply, maal::boost::Matrix::nbRows(), maal::boost::Vector::resize(), dynamicgraph::Signal< T, Time >::setFunction(), dynamicgraph::Entity::signalRegistration(), sotDEBUGIN, sotDEBUGOUT, and dynamicgraph::sot::TaskAbstract::taskSOUT.
dynamicgraph::sot::dyninv::TaskDynPassingPoint::TaskDynPassingPoint | ( | const std::string & | name | ) |
Constructor
name | Name of the task (string) |
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protected |
References display(), dynamicgraph::sot::Task::errorSOUT, maal::boost::Vector::resize(), maal::boost::Vector::size(), sotDEBUGIN, and sotDEBUGOUT.
Referenced by TaskDynPassingPoint().
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protected |
dynamicgraph::sot::dyninv::TaskDynPassingPoint::DECLARE_SIGNAL_IN | ( | velocityDes | , |
ml::Vector | |||
) |
dynamicgraph::sot::dyninv::TaskDynPassingPoint::DECLARE_SIGNAL_IN | ( | velocityDes | , |
ml::Vector | |||
) |
dynamicgraph::sot::dyninv::TaskDynPassingPoint::DECLARE_SIGNAL_IN | ( | duration | , |
double | |||
) |
dynamicgraph::sot::dyninv::TaskDynPassingPoint::DECLARE_SIGNAL_IN | ( | duration | , |
double | |||
) |
dynamicgraph::sot::dyninv::TaskDynPassingPoint::DECLARE_SIGNAL_IN | ( | initialTime | , |
double | |||
) |
dynamicgraph::sot::dyninv::TaskDynPassingPoint::DECLARE_SIGNAL_IN | ( | initialTime | , |
double | |||
) |
dynamicgraph::sot::dyninv::TaskDynPassingPoint::DECLARE_SIGNAL_OUT | ( | velocityCurrent | , |
ml::Vector | |||
) |
dynamicgraph::sot::dyninv::TaskDynPassingPoint::DECLARE_SIGNAL_OUT | ( | velocityCurrent | , |
ml::Vector | |||
) |
dynamicgraph::sot::dyninv::TaskDynPassingPoint::DECLARE_SIGNAL_OUT | ( | velocityDesired | , |
ml::Vector | |||
) |
dynamicgraph::sot::dyninv::TaskDynPassingPoint::DECLARE_SIGNAL_OUT | ( | velocityDesired | , |
ml::Vector | |||
) |
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virtual |
Reimplemented from dynamicgraph::sot::dyninv::TaskDynPD.
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virtual |
Reimplemented from dynamicgraph::sot::dyninv::TaskDynPD.
References dynamicgraph::sot::Task::featureList, and dynamicgraph::Entity::name.
Referenced by computeTaskSOUT().