10 #ifndef __SOT_TASK_H__
11 #define __SOT_TASK_H__
18 #include <dynamic-graph/linear-algebra.h>
35 #if defined task_EXPORTS
36 #define SOTTASK_EXPORT __declspec(dllexport)
38 #define SOTTASK_EXPORT __declspec(dllimport)
41 #define SOTTASK_EXPORT
84 Task(
const std::string &n);
100 dynamicgraph::Vector &
computeError(dynamicgraph::Vector &error,
int time);
112 dynamicgraph::SignalTimeDependent<dynamicgraph::Vector, int>
errorSOUT;
113 dynamicgraph::SignalTimeDependent<dynamicgraph::Vector, int>
This class gives the abstract definition of a feature.
Definition: feature-abstract.hh:75
Definition: task-abstract.hh:48
Class that defines the basic elements of a task.
Definition: task.hh:73
DYNAMIC_GRAPH_ENTITY_DECL()
virtual std::ostream & writeGraph(std::ostream &os) const
dynamicgraph::SignalTimeDependent< dynamicgraph::Vector, int > errorTimeDerivativeSOUT
Definition: task.hh:114
void display(std::ostream &os) const
void clearControlSelection(void)
dynamicgraph::SignalTimeDependent< dynamicgraph::Vector, int > errorSOUT
Definition: task.hh:112
dynamicgraph::Vector & computeErrorTimeDerivative(dynamicgraph::Vector &res, int time)
void clearFeatureList(void)
void setWithDerivative(const bool &s)
VectorMultiBound & computeTaskExponentialDecrease(VectorMultiBound &errorRef, int time)
Task(const std::string &n)
void setControlSelection(const Flags &act)
void addFeature(FeatureAbstract &s)
dynamicgraph::Matrix & computeJacobian(dynamicgraph::Matrix &J, int time)
dynamicgraph::Vector & computeError(dynamicgraph::Vector &error, int time)
dynamicgraph::SignalPtr< double, int > dampingGainSINOUT
Definition: task.hh:110
bool getWithDerivative(void)
FeatureList_t featureList
Definition: task.hh:78
FeatureList_t & getFeatureList(void)
Definition: task.hh:90
void addFeatureFromName(const std::string &name)
bool withDerivative
Definition: task.hh:79
void addControlSelection(const Flags &act)
dynamicgraph::SignalPtr< Flags, int > controlSelectionSIN
Definition: task.hh:111
std::list< FeatureAbstract * > FeatureList_t
Definition: task.hh:75
dynamicgraph::SignalPtr< double, int > controlGainSIN
Definition: task.hh:109
std::vector< MultiBound > VectorMultiBound
Definition: multi-bound.hh:69
Definition: abstract-sot-external-interface.hh:17
#define SOTTASK_EXPORT
Definition: task.hh:41