Hierarchical element of the stack of tasks. More...
#include <sot/core/task-abstract.hh>
Classes | |
class | MemoryTaskAbstract |
Public Member Functions | |
TaskAbstract (const std::string &n) | |
Public Attributes | |
MemoryTaskAbstract * | memoryInternal |
dg::SignalTimeDependent < VectorMultiBound, int > | taskSOUT |
dg::SignalTimeDependent < dg::Matrix, int > | jacobianSOUT |
Protected Member Functions | |
void | taskRegistration (void) |
Hierarchical element of the stack of tasks.
A task computes a value and a Jacobian as output signals. Once stacked into a solver, the solver will compute the control vector that makes the task values converge toward zero in the order defined by the priority levels.
dynamicgraph::sot::TaskAbstract::TaskAbstract | ( | const std::string & | n | ) |
void dynamicgraph::sot::TaskAbstract::taskRegistration | ( | void | ) | [protected] |