dynamicgraph::sot::dyninv::SolverKine Class Reference

#include <solver-kine.h>

Inheritance diagram for dynamicgraph::sot::dyninv::SolverKine:
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Collaboration diagram for dynamicgraph::sot::dyninv::SolverKine:
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Public Types

typedef sot::Stack< TaskAbstractstack_t
 
typedef sot::Stack< TaskAbstractstack_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
 
- Public Types inherited from dynamicgraph::Entity
typedef std::map< std::string, SignalBase< int > *> SignalMap
 
typedef std::map< const std::string, command::Command *> CommandMap_t
 
- Public Types inherited from dynamicgraph::EntityHelper< SolverKine >
typedef Ent EntityClassName
 
typedef Ent EntityClassName
 
typedef Ent EntityClassName
 
- Public Types inherited from dynamicgraph::sot::Stack< TaskAbstract >
typedef std::list< const dg::SignalBase< int > * > TaskDependancyList_t
 
typedef std::list< const dg::SignalBase< int > * > TaskDependancyList_t
 

Public Member Functions

 SolverKine (const std::string &name)
 
virtual TaskDependancyList_t getTaskDependancyList (const TaskAbstract &task)
 Return the signal to be added/removed from the dependancy list of the control signal. More...
 
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 (damping, double)
 
 DECLARE_SIGNAL_IN (velocity, dg::Vector)
 
 DECLARE_SIGNAL_OUT (control, dg::Vector)
 
void debugOnce (void)
 
void resetAset (void)
 
void getDecomposition (const int &stage)
 
virtual void push (TaskAbstract &task)
 Push the task in the stack. More...
 
void setSecondOrderKinematics ()
 
 SolverKine (const std::string &name)
 
virtual TaskDependancyList_t getTaskDependancyList (const TaskAbstract &task)
 Return the signal to be added/removed from the dependancy list of the control signal. More...
 
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 (damping, double)
 
 DECLARE_SIGNAL_IN (velocity, dg::Vector)
 
 DECLARE_SIGNAL_OUT (control, dg::Vector)
 
void debugOnce (void)
 
void resetAset (void)
 
void getDecomposition (const int &stage)
 
virtual void push (TaskAbstract &task)
 Push the task in the stack. More...
 
void setSecondOrderKinematics ()
 
- Public Member Functions inherited from dynamicgraph::Entity
 Entity (const std::string &name)
 
virtual ~Entity ()
 
const std::string & getName () const
 
virtual const std::string & getClassName () 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 & 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::CommandgetNewStyleCommand (const std::string &cmdName)
 
SignalMap getSignalMap () const
 
void sendMsg (const std::string &msg, MsgType t=MSG_TYPE_INFO, const char *file="", int line=0)
 
void setLoggerVerbosityLevel (LoggerVerbosity lv)
 
LoggerVerbosity getLoggerVerbosityLevel ()
 
bool setTimeSample (double t)
 
double getTimeSample ()
 
bool setStreamPrintPeriod (double t)
 
double getStreamPrintPeriod ()
 
- Public Member Functions inherited from dynamicgraph::sot::Stack< TaskAbstract >
 Stack (void)
 
 Stack (void)
 
 ~Stack (void)
 
 ~Stack (void)
 
virtual TaskAbstractpop (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 TaskAbstractpop (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 TaskAbstract &task)
 This method allows to know if a task exists or not. More...
 
virtual bool exist (const TaskAbstract &task)
 This method allows to know if a task exists or not. More...
 
virtual void remove (const TaskAbstract &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 TaskAbstract &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 TaskAbstract &task)
 This method makes the task to swap with the task having the immediate superior priority. More...
 
virtual void up (const TaskAbstract &task)
 This method makes the task to swap with the task having the immediate superior priority. More...
 
virtual void down (const TaskAbstract &task)
 This method makes the task to swap with the task having the immediate inferior priority. More...
 
virtual void down (const TaskAbstract &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)
 

Public Attributes

bool controlFreeFloating
 
bool secondOrderKinematics_
 
- Public Attributes inherited from dynamicgraph::sot::Stack< TaskAbstract >
dg::SignalBase< int > * tatata
 
int titit
 
int totol
 

Additional Inherited Members

- Static Public Attributes inherited from dynamicgraph::sot::Stack< TaskAbstract >
static const unsigned int NB_JOINTS_DEFAULT
 Number of joints by default. More...
 
- Protected Types inherited from dynamicgraph::sot::Stack< TaskAbstract >
typedef std::vector< TaskAbstract *> Stack_t
 
typedef std::vector< TaskAbstract *> 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
 
- 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::Entity
std::string name
 
SignalMap signalMap
 
CommandMap_t commandMap
 
Logger logger_
 
- Protected Attributes inherited from dynamicgraph::sot::Stack< TaskAbstract >
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...
 

Member Typedef Documentation

◆ stack_t [1/2]

◆ stack_t [2/2]

◆ StackConstIterator_t [1/4]

typedef Stack_t::const_iterator dynamicgraph::sot::Stack< TaskGeneric >::StackConstIterator_t

◆ StackConstIterator_t [2/4]

typedef Stack_t::const_iterator dynamicgraph::sot::Stack< TaskGeneric >::StackConstIterator_t

◆ StackConstIterator_t [3/4]

typedef Stack_t::const_iterator dynamicgraph::sot::Stack< TaskGeneric >::StackConstIterator_t

◆ StackConstIterator_t [4/4]

typedef Stack_t::const_iterator dynamicgraph::sot::Stack< TaskGeneric >::StackConstIterator_t

◆ StackIterator_t [1/4]

typedef Stack_t::iterator dynamicgraph::sot::Stack< TaskGeneric >::StackIterator_t

◆ StackIterator_t [2/4]

typedef Stack_t::iterator dynamicgraph::sot::Stack< TaskGeneric >::StackIterator_t

◆ StackIterator_t [3/4]

typedef Stack_t::iterator dynamicgraph::sot::Stack< TaskGeneric >::StackIterator_t

◆ StackIterator_t [4/4]

typedef Stack_t::iterator dynamicgraph::sot::Stack< TaskGeneric >::StackIterator_t

◆ TaskDependancyList_t [1/4]

typedef std::list< const dg::SignalBase<int>* > dynamicgraph::sot::Stack< TaskGeneric >::TaskDependancyList_t

◆ TaskDependancyList_t [2/4]

typedef std::list< const dg::SignalBase<int>* > dynamicgraph::sot::Stack< TaskGeneric >::TaskDependancyList_t

◆ TaskDependancyList_t [3/4]

typedef std::list< const dg::SignalBase<int>* > dynamicgraph::sot::Stack< TaskGeneric >::TaskDependancyList_t

◆ TaskDependancyList_t [4/4]

typedef std::list< const dg::SignalBase<int>* > dynamicgraph::sot::Stack< TaskGeneric >::TaskDependancyList_t

Constructor & Destructor Documentation

◆ SolverKine() [1/2]

◆ SolverKine() [2/2]

dynamicgraph::sot::dyninv::SolverKine::SolverKine ( const std::string &  name)

Member Function Documentation

◆ addDependancy() [1/2]

void dynamicgraph::sot::dyninv::SolverKine::addDependancy ( const TaskDependancyList_t depList)
virtual

◆ addDependancy() [2/2]

virtual void dynamicgraph::sot::dyninv::SolverKine::addDependancy ( const TaskDependancyList_t depList)
virtual

◆ debugOnce() [1/2]

void dynamicgraph::sot::dyninv::SolverKine::debugOnce ( void  )

References resetAset().

Referenced by SolverKine().

◆ debugOnce() [2/2]

void dynamicgraph::sot::dyninv::SolverKine::debugOnce ( void  )

◆ DECLARE_SIGNAL_IN() [1/4]

dynamicgraph::sot::dyninv::SolverKine::DECLARE_SIGNAL_IN ( damping  ,
double   
)

◆ DECLARE_SIGNAL_IN() [2/4]

dynamicgraph::sot::dyninv::SolverKine::DECLARE_SIGNAL_IN ( damping  ,
double   
)

◆ DECLARE_SIGNAL_IN() [3/4]

dynamicgraph::sot::dyninv::SolverKine::DECLARE_SIGNAL_IN ( velocity  ,
dg::Vector   
)

◆ DECLARE_SIGNAL_IN() [4/4]

dynamicgraph::sot::dyninv::SolverKine::DECLARE_SIGNAL_IN ( velocity  ,
dg::Vector   
)

◆ DECLARE_SIGNAL_OUT() [1/2]

dynamicgraph::sot::dyninv::SolverKine::DECLARE_SIGNAL_OUT ( control  ,
dg::Vector   
)

◆ DECLARE_SIGNAL_OUT() [2/2]

dynamicgraph::sot::dyninv::SolverKine::DECLARE_SIGNAL_OUT ( control  ,
dg::Vector   
)

◆ display() [1/2]

virtual void dynamicgraph::sot::dyninv::SolverKine::display ( std::ostream &  os) const
virtual

Reimplemented from dynamicgraph::Entity.

◆ display() [2/2]

void dynamicgraph::sot::dyninv::SolverKine::display ( std::ostream &  os) const
virtual

◆ getDecomposition() [1/2]

void dynamicgraph::sot::dyninv::SolverKine::getDecomposition ( const int &  stage)

References display().

Referenced by resetAset(), and SolverKine().

◆ getDecomposition() [2/2]

void dynamicgraph::sot::dyninv::SolverKine::getDecomposition ( const int &  stage)

◆ getTaskDependancyList() [1/2]

SolverKine::TaskDependancyList_t dynamicgraph::sot::dyninv::SolverKine::getTaskDependancyList ( const TaskAbstract task)
virtual

Return the signal to be added/removed from the dependancy list of the control signal.

Implements dynamicgraph::sot::Stack< TaskAbstract >.

References addDependancy(), dynamicgraph::sot::TaskAbstract::jacobianSOUT, and dynamicgraph::sot::TaskAbstract::taskSOUT.

Referenced by setSecondOrderKinematics().

◆ getTaskDependancyList() [2/2]

virtual TaskDependancyList_t dynamicgraph::sot::dyninv::SolverKine::getTaskDependancyList ( const TaskAbstract task)
virtual

Return the signal to be added/removed from the dependancy list of the control signal.

Implements dynamicgraph::sot::Stack< TaskAbstract >.

◆ push() [1/2]

void dynamicgraph::sot::dyninv::SolverKine::push ( TaskAbstract task)
virtual

Push the task in the stack.

Call parent implementation anc check that task is of type dynamic if necessary

Reimplemented from dynamicgraph::sot::Stack< TaskAbstract >.

References dynamicgraph::Entity::getClassName(), dynamicgraph::Entity::getName(), dynamicgraph::sot::Stack< TaskGeneric >::push(), and secondOrderKinematics_.

◆ push() [2/2]

virtual void dynamicgraph::sot::dyninv::SolverKine::push ( TaskAbstract task)
virtual

Push the task in the stack.

Call parent implementation anc check that task is of type dynamic if necessary

Reimplemented from dynamicgraph::sot::Stack< TaskAbstract >.

◆ removeDependancy() [1/2]

virtual void dynamicgraph::sot::dyninv::SolverKine::removeDependancy ( const TaskDependancyList_t depList)
virtual

◆ removeDependancy() [2/2]

void dynamicgraph::sot::dyninv::SolverKine::removeDependancy ( const TaskDependancyList_t depList)
virtual

◆ resetAset() [1/2]

void dynamicgraph::sot::dyninv::SolverKine::resetAset ( void  )

◆ resetAset() [2/2]

void dynamicgraph::sot::dyninv::SolverKine::resetAset ( void  )

References getDecomposition().

Referenced by debugOnce(), and SolverKine().

◆ resetReady() [1/2]

◆ resetReady() [2/2]

virtual void dynamicgraph::sot::dyninv::SolverKine::resetReady ( void  )
virtual

◆ setSecondOrderKinematics() [1/2]

void dynamicgraph::sot::dyninv::SolverKine::setSecondOrderKinematics ( )

◆ setSecondOrderKinematics() [2/2]

void dynamicgraph::sot::dyninv::SolverKine::setSecondOrderKinematics ( )

Member Data Documentation

◆ controlFreeFloating

bool dynamicgraph::sot::dyninv::SolverKine::controlFreeFloating

Referenced by SolverKine().

◆ secondOrderKinematics_

bool dynamicgraph::sot::dyninv::SolverKine::secondOrderKinematics_