dynamicgraph::sot::dyninv::TaskJointLimits Class Reference

#include <task-joint-limits.h>

Inheritance diagram for dynamicgraph::sot::dyninv::TaskJointLimits:
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Collaboration diagram for dynamicgraph::sot::dyninv::TaskJointLimits:
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Public Member Functions

 TaskJointLimits (const std::string &name)
 
virtual void display (std::ostream &os) const
 
 DECLARE_SIGNAL_IN (position, dg::Vector)
 
 DECLARE_SIGNAL_IN (referenceInf, dg::Vector)
 
 DECLARE_SIGNAL_IN (referenceSup, dg::Vector)
 
 DECLARE_SIGNAL_IN (dt, double)
 
 DECLARE_SIGNAL_IN (controlGain, double)
 
 DECLARE_SIGNAL_IN (selec, Flags)
 
 DECLARE_SIGNAL_OUT (normalizedPosition, dg::Vector)
 
 DECLARE_SIGNAL_OUT (activeSize, int)
 
dg::sot::VectorMultiBoundcomputeTask (dg::sot::VectorMultiBound &res, int time)
 
dg::MatrixcomputeJacobian (dg::Matrix &J, int time)
 
 TaskJointLimits (const std::string &name)
 
virtual void display (std::ostream &os) const
 
 DECLARE_SIGNAL_IN (position, dg::Vector)
 
 DECLARE_SIGNAL_IN (referenceInf, dg::Vector)
 
 DECLARE_SIGNAL_IN (referenceSup, dg::Vector)
 
 DECLARE_SIGNAL_IN (dt, double)
 
 DECLARE_SIGNAL_IN (controlGain, double)
 
 DECLARE_SIGNAL_IN (selec, Flags)
 
 DECLARE_SIGNAL_OUT (normalizedPosition, dg::Vector)
 
 DECLARE_SIGNAL_OUT (activeSize, int)
 
dg::sot::VectorMultiBoundcomputeTask (dg::sot::VectorMultiBound &res, int time)
 
dg::MatrixcomputeJacobian (dg::Matrix &J, int time)
 
- Public Member Functions inherited from dynamicgraph::sot::TaskAbstract
 TaskAbstract (const std::string &n)
 
- 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 ()
 

Additional Inherited Members

- 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< TaskJointLimits >
typedef Ent EntityClassName
 
typedef Ent EntityClassName
 
typedef Ent EntityClassName
 
- Public Attributes inherited from dynamicgraph::sot::TaskAbstract
MemoryTaskAbstract * memoryInternal
 
dg::SignalTimeDependent< VectorMultiBound, int > taskSOUT
 
dg::SignalTimeDependent< dg::Matrix, int > jacobianSOUT
 
- Protected Member Functions inherited from dynamicgraph::sot::TaskAbstract
void taskRegistration (void)
 
- 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_
 

Constructor & Destructor Documentation

◆ TaskJointLimits() [1/2]

◆ TaskJointLimits() [2/2]

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

Member Function Documentation

◆ computeJacobian() [1/2]

dg::Matrix & dynamicgraph::sot::dyninv::TaskJointLimits::computeJacobian ( dg::Matrix J,
int  time 
)

◆ computeJacobian() [2/2]

dg::Matrix& dynamicgraph::sot::dyninv::TaskJointLimits::computeJacobian ( dg::Matrix J,
int  time 
)

◆ computeTask() [1/2]

dg::sot::VectorMultiBound & dynamicgraph::sot::dyninv::TaskJointLimits::computeTask ( dg::sot::VectorMultiBound res,
int  time 
)

References computeJacobian(), and sotDEBUG.

Referenced by TaskJointLimits().

◆ computeTask() [2/2]

dg::sot::VectorMultiBound& dynamicgraph::sot::dyninv::TaskJointLimits::computeTask ( dg::sot::VectorMultiBound res,
int  time 
)

◆ DECLARE_SIGNAL_IN() [1/12]

dynamicgraph::sot::dyninv::TaskJointLimits::DECLARE_SIGNAL_IN ( position  ,
dg::Vector   
)

◆ DECLARE_SIGNAL_IN() [2/12]

dynamicgraph::sot::dyninv::TaskJointLimits::DECLARE_SIGNAL_IN ( position  ,
dg::Vector   
)

◆ DECLARE_SIGNAL_IN() [3/12]

dynamicgraph::sot::dyninv::TaskJointLimits::DECLARE_SIGNAL_IN ( referenceInf  ,
dg::Vector   
)

◆ DECLARE_SIGNAL_IN() [4/12]

dynamicgraph::sot::dyninv::TaskJointLimits::DECLARE_SIGNAL_IN ( referenceInf  ,
dg::Vector   
)

◆ DECLARE_SIGNAL_IN() [5/12]

dynamicgraph::sot::dyninv::TaskJointLimits::DECLARE_SIGNAL_IN ( referenceSup  ,
dg::Vector   
)

◆ DECLARE_SIGNAL_IN() [6/12]

dynamicgraph::sot::dyninv::TaskJointLimits::DECLARE_SIGNAL_IN ( referenceSup  ,
dg::Vector   
)

◆ DECLARE_SIGNAL_IN() [7/12]

dynamicgraph::sot::dyninv::TaskJointLimits::DECLARE_SIGNAL_IN ( dt  ,
double   
)

◆ DECLARE_SIGNAL_IN() [8/12]

dynamicgraph::sot::dyninv::TaskJointLimits::DECLARE_SIGNAL_IN ( dt  ,
double   
)

◆ DECLARE_SIGNAL_IN() [9/12]

dynamicgraph::sot::dyninv::TaskJointLimits::DECLARE_SIGNAL_IN ( controlGain  ,
double   
)

◆ DECLARE_SIGNAL_IN() [10/12]

dynamicgraph::sot::dyninv::TaskJointLimits::DECLARE_SIGNAL_IN ( controlGain  ,
double   
)

◆ DECLARE_SIGNAL_IN() [11/12]

dynamicgraph::sot::dyninv::TaskJointLimits::DECLARE_SIGNAL_IN ( selec  ,
Flags   
)

◆ DECLARE_SIGNAL_IN() [12/12]

dynamicgraph::sot::dyninv::TaskJointLimits::DECLARE_SIGNAL_IN ( selec  ,
Flags   
)

◆ DECLARE_SIGNAL_OUT() [1/4]

dynamicgraph::sot::dyninv::TaskJointLimits::DECLARE_SIGNAL_OUT ( normalizedPosition  ,
dg::Vector   
)

◆ DECLARE_SIGNAL_OUT() [2/4]

dynamicgraph::sot::dyninv::TaskJointLimits::DECLARE_SIGNAL_OUT ( normalizedPosition  ,
dg::Vector   
)

◆ DECLARE_SIGNAL_OUT() [3/4]

dynamicgraph::sot::dyninv::TaskJointLimits::DECLARE_SIGNAL_OUT ( activeSize  ,
int   
)

◆ DECLARE_SIGNAL_OUT() [4/4]

dynamicgraph::sot::dyninv::TaskJointLimits::DECLARE_SIGNAL_OUT ( activeSize  ,
int   
)

◆ display() [1/2]

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

Reimplemented from dynamicgraph::Entity.

◆ display() [2/2]

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

Reimplemented from dynamicgraph::Entity.

References dynamicgraph::Entity::name.

Referenced by computeJacobian().