dynamicgraph::sot Namespace Reference

Namespaces

namespace  command
namespace  detail

Classes

class  NamedVector
class  AbstractSotExternalInterface
class  AdditionalFunctions
 This helper class dynamically overloads the "new" shell command to allow creation of tasks and features as well as entities. More...
class  BinaryIntToUint
class  BinaryOp
class  ClampWorkspace
class  CoMFreezer
class  Constraint
class  Contiifstream
class  ControlGR
class  ControlPD
class  DebugTrace
class  Derivator
class  Device
class  Event
 Event. More...
class  ExceptionAbstract
class  ExceptionDynamic
class  ExceptionFactory
class  ExceptionFeature
class  ExceptionSignal
class  ExceptionTask
class  ExceptionTools
class  Feature1D
 Simple test: the task is defined to be e_2 = .5 . e'.e, with e the mother task. The jacobian is then J_2 = e'.J, J being the jacobian of the mother task. More...
class  FeatureAbstract
 This class gives the abstract definition of a feature. More...
class  FeatureReferenceHelper
class  FeatureGeneric
 Class that defines a generic implementation of the abstract interface for features. More...
class  FeatureJointLimits
 Class that defines gradient vector for jl avoidance. More...
class  FeatureLineDistance
 Class that defines point-3d control feature. More...
class  FeaturePoint6dRelative
 Class that defines the motion of a point of the body wrt. another point. More...
class  FeaturePoint6d
 Class that defines point-6d control feature. More...
class  FeaturePosture
class  FeatureTask
class  FeatureVector3
 Class that defines point-3d control feature. More...
class  FeatureVisualPoint
 Class that defines 2D visualPoint visual feature. More...
class  FIRFilter
class  Flags
class  GainAdaptive
class  GainHyperbolic
class  GripperControl
 The goal of this entity is to ensure that the maximal torque will not be exceeded during a grasping task. If the maximal torque is reached, then the current position of the gripper is kept. More...
class  GripperControlPlugin
class  IntegratorAbstract
 integrates an ODE. If Y is the output and X the input, the following equation is integrated: a_p * d(p)Y / dt^p + .... + a_0 Y = b_m * d(m)X / dt^m + ... . b_0 X a_i are the coefficients of the denominator of the associated transfer function between X and Y, while the b_i are those of the numerator. More...
class  IntegratorEuler
 integrates an ODE using a naive Euler integration. TODO: change the integration method. For the moment, the highest derivative of the output signal is computed using the previous values of the other derivatives and the input signal, then integrated n times, which will most certainly induce a huge drift for ODEs with a high order at the denominator. More...
class  JointLimitator
 Filter control vector to avoid exceeding joint maximum values. More...
class  SotJointTrajectoryEntity
 This object handles trajectory of quantities and publish them as signals. More...
class  Kalman
class  Latch
class  Mailbox
class  MatrixConstant
class  MemoryTaskSOT
class  MotionPeriod
class  MultiBound
class  NeckLimitation
class  OpPointModifier
 Compute position and jacobian of a local frame attached to a joint. More...
class  PeriodicCallEntity
class  PeriodicCall
class  PoolStorage
 This singleton class keep tracks of all features and tasks. More...
class  RobotSimu
class  SeqPlay
class  Sequencer
class  SmoothReach
class  Sot
 This class implements the Stack of Task. It allows to deal with the priority of the controllers through the shell. The controllers can be either constraints either tasks. More...
class  Switch
 Switch. More...
class  TaskAbstract
 Hierarchical element of the stack of tasks. More...
class  TaskConti
class  TaskPD
class  TaskUnilateral
class  Task
 Class that defines the basic elements of a task. More...
class  TimeStamp
class  RulesJointTrajectory
class  timestamp
class  Header
class  JointTrajectoryPoint
class  Trajectory
class  UnaryOp
class  VariadicAbstract
class  VariadicOp
class  VectorConstant
class  VectorToRotation
class  VisualPointProjecter

Typedefs

typedef NamedVector SensorValues
typedef NamedVector ControlValues
typedef Mailbox
< dynamicgraph::Vector
MailboxVector
typedef Eigen::Transform
< double, 3, Eigen::Affine >
SOT_CORE_EXPORT 
MatrixHomogeneous
typedef Eigen::Matrix< double, 3, 3 >
SOT_CORE_EXPORT 
MatrixRotation
typedef Eigen::AngleAxis
< double > SOT_CORE_EXPORT 
VectorUTheta
typedef Eigen::Quaternion
< double > SOT_CORE_EXPORT 
VectorQuaternion
typedef Eigen::Vector3d
SOT_CORE_EXPORT 
VectorRotation
typedef Eigen::Vector3d
SOT_CORE_EXPORT 
VectorRollPitchYaw
typedef Eigen::Matrix< double, 6, 6 >
SOT_CORE_EXPORT 
MatrixForce
typedef Eigen::Matrix< double, 6, 6 >
SOT_CORE_EXPORT 
MatrixTwist
typedef std::vector< MultiBoundVectorMultiBound

Enumerations

enum  ControlInput {
  CONTROL_INPUT_NO_INTEGRATION = 0,
  CONTROL_INPUT_ONE_INTEGRATION = 1,
  CONTROL_INPUT_TWO_INTEGRATION = 2,
  CONTROL_INPUT_SIZE = 3
}
 Define the type of input expected by the robot. More...

Functions

void sotDEBUGF (const int, const char *,...)
void sotDEBUGF (const char *,...)
void sotERRORF (const int, const char *,...)
void sotERRORF (const char *,...)
void sotTDEBUGF (const int, const char *,...)
void sotTDEBUGF (const char *,...)
void buildFrom (const MatrixHomogeneous &MH, MatrixTwist &MT)
SOT_CORE_EXPORT std::ostream & operator<< (std::ostream &os, const VectorMultiBound &v)
SOT_CORE_EXPORT std::istream & operator>> (std::istream &os, VectorMultiBound &v)

Variables

SOT_CORE_EXPORT DebugTrace sotDEBUGFLOW
SOT_CORE_EXPORT DebugTrace sotERRORFLOW
const std::string ControlInput_s []
SOT_CORE_EXPORT const Flags FLAG_LINE_1
SOT_CORE_EXPORT const Flags FLAG_LINE_2
SOT_CORE_EXPORT const Flags FLAG_LINE_3
SOT_CORE_EXPORT const Flags FLAG_LINE_4
SOT_CORE_EXPORT const Flags FLAG_LINE_5
SOT_CORE_EXPORT const Flags FLAG_LINE_6
SOT_CORE_EXPORT const Flags FLAG_LINE_7
SOT_CORE_EXPORT const Flags FLAG_LINE_8

Typedef Documentation

typedef Eigen::Matrix<double,6,6> SOT_CORE_EXPORT dynamicgraph::sot::MatrixForce
typedef Eigen::Transform<double,3, Eigen::Affine> SOT_CORE_EXPORT dynamicgraph::sot::MatrixHomogeneous
typedef Eigen::Matrix<double,3,3> SOT_CORE_EXPORT dynamicgraph::sot::MatrixRotation
typedef Eigen::Matrix<double,6,6> SOT_CORE_EXPORT dynamicgraph::sot::MatrixTwist
typedef Eigen::Quaternion<double> SOT_CORE_EXPORT dynamicgraph::sot::VectorQuaternion
typedef Eigen::Vector3d SOT_CORE_EXPORT dynamicgraph::sot::VectorRollPitchYaw
typedef Eigen::Vector3d SOT_CORE_EXPORT dynamicgraph::sot::VectorRotation
typedef Eigen::AngleAxis<double> SOT_CORE_EXPORT dynamicgraph::sot::VectorUTheta

Enumeration Type Documentation

Define the type of input expected by the robot.

Enumerator:
CONTROL_INPUT_NO_INTEGRATION 
CONTROL_INPUT_ONE_INTEGRATION 
CONTROL_INPUT_TWO_INTEGRATION 
CONTROL_INPUT_SIZE 

Function Documentation

void dynamicgraph::sot::buildFrom ( const MatrixHomogeneous &  MH,
MatrixTwist &  MT 
) [inline]
SOT_CORE_EXPORT std::ostream& dynamicgraph::sot::operator<< ( std::ostream &  os,
const VectorMultiBound &  v 
)
SOT_CORE_EXPORT std::istream& dynamicgraph::sot::operator>> ( std::istream &  os,
VectorMultiBound &  v 
)
void dynamicgraph::sot::sotDEBUGF ( const int  ,
const char *  ,
  ... 
) [inline]
void dynamicgraph::sot::sotDEBUGF ( const char *  ,
  ... 
) [inline]
void dynamicgraph::sot::sotERRORF ( const int  ,
const char *  ,
  ... 
) [inline]
void dynamicgraph::sot::sotERRORF ( const char *  ,
  ... 
) [inline]
void dynamicgraph::sot::sotTDEBUGF ( const int  ,
const char *  ,
  ... 
) [inline]
void dynamicgraph::sot::sotTDEBUGF ( const char *  ,
  ... 
) [inline]

Variable Documentation

const std::string dynamicgraph::sot::ControlInput_s[]
Initial value:
    {
      "noInteg", "oneInteg", "twoInteg"
    }
SOT_CORE_EXPORT const Flags dynamicgraph::sot::FLAG_LINE_7
SOT_CORE_EXPORT const Flags dynamicgraph::sot::FLAG_LINE_8