Class that defines the basic elements of a task. More...
#include <Definition>
Class that defines the basic elements of a task.
A task is defined as \( {\bf s} ={\bf e}({\bf q}) \) where \({\bf s} \) is a set of features and \({\bf q}\) the actuated joints of the robot.
It is assumes that \( \dot{\bf e} = - \lambda {\bf e} \). Moreover as it assumed that this task can provide: \( {\bf J} = \frac{\delta f}{\delta {\bf q}} \) It then possible to compute \( \dot{\bf q} = -\lambda {\bf J}^{\#} \dot{\bf e}\) with \( \dot{\bf e} = {\bf s}^{des} - {\bf s}^* \), and \( {\bf s}^{des}\) the desired feature and \( {\bf s}^* \) the one currently measured.
It is possible to add features or clear the list of features. This class makes also possible to select some of the listed of features to compute the control law through setControlSelection, addControlSelection, clearControlSelection.
typedef std::list< FeatureAbstract* > dynamicgraph::sot::Task::FeatureList_t |
dynamicgraph::sot::Task::Task | ( | const std::string & | n | ) |
void dynamicgraph::sot::Task::addControlSelection | ( | const Flags & | act | ) |
void dynamicgraph::sot::Task::addFeature | ( | FeatureAbstract & | s | ) |
void dynamicgraph::sot::Task::addFeatureFromName | ( | const std::string & | name | ) |
void dynamicgraph::sot::Task::clearControlSelection | ( | void | ) |
void dynamicgraph::sot::Task::clearFeatureList | ( | void | ) |
dg::Vector& dynamicgraph::sot::Task::computeError | ( | dg::Vector & | error, |
int | time | ||
) |
dg::Vector& dynamicgraph::sot::Task::computeErrorTimeDerivative | ( | dg::Vector & | res, |
int | time | ||
) |
dg::Matrix& dynamicgraph::sot::Task::computeJacobian | ( | dg::Matrix & | J, |
int | time | ||
) |
VectorMultiBound& dynamicgraph::sot::Task::computeTaskExponentialDecrease | ( | VectorMultiBound & | errorRef, |
int | time | ||
) |
void dynamicgraph::sot::Task::display | ( | std::ostream & | os | ) | const [virtual] |
Reimplemented from dynamicgraph::Entity.
Reimplemented in dynamicgraph::sot::TaskConti, and dynamicgraph::sot::TaskUnilateral.
dynamicgraph::sot::Task::DYNAMIC_GRAPH_ENTITY_DECL | ( | ) | [protected] |
FeatureList_t& dynamicgraph::sot::Task::getFeatureList | ( | void | ) | [inline] |
bool dynamicgraph::sot::Task::getWithDerivative | ( | void | ) |
void dynamicgraph::sot::Task::initCommands | ( | void | ) |
void dynamicgraph::sot::Task::setControlSelection | ( | const Flags & | act | ) |
void dynamicgraph::sot::Task::setWithDerivative | ( | const bool & | s | ) |
virtual std::ostream& dynamicgraph::sot::Task::writeGraph | ( | std::ostream & | os | ) | const [virtual] |
Reimplemented from dynamicgraph::Entity.
dg::SignalPtr< double,int > dynamicgraph::sot::Task::controlGainSIN |
dg::SignalPtr< double,int > dynamicgraph::sot::Task::dampingGainSINOUT |
FeatureList_t dynamicgraph::sot::Task::featureList [protected] |
Reimplemented in dynamicgraph::sot::TaskUnilateral.
bool dynamicgraph::sot::Task::withDerivative [protected] |