#include <solver-op-space.h>
Classes | |
struct | Contact |
Public Types | |
typedef sot::Stack< TaskDynPD > | stack_t |
typedef sot::Stack< TaskDynPD > | stack_t |
typedef std::list< const dg::SignalBase< int > * > | TaskDependancyList_t |
typedef std::list< const dg::SignalBase< int > * > | TaskDependancyList_t |
typedef Stack_t::iterator | StackIterator_t |
typedef Stack_t::iterator | StackIterator_t |
typedef Stack_t::const_iterator | StackConstIterator_t |
typedef Stack_t::const_iterator | StackConstIterator_t |
typedef std::list< const dg::SignalBase< int > * > | TaskDependancyList_t |
typedef std::list< const dg::SignalBase< int > * > | TaskDependancyList_t |
typedef Stack_t::iterator | StackIterator_t |
typedef Stack_t::iterator | StackIterator_t |
typedef Stack_t::const_iterator | StackConstIterator_t |
typedef Stack_t::const_iterator | StackConstIterator_t |
Public Member Functions | |
SolverOpSpace (const std::string &name) | |
virtual TaskDependancyList_t | getTaskDependancyList (const TaskDynPD &task) |
virtual void | addDependancy (const TaskDependancyList_t &depList) |
virtual void | removeDependancy (const TaskDependancyList_t &depList) |
virtual void | resetReady (void) |
virtual void | display (std::ostream &os) const |
DECLARE_SIGNAL_IN (matrixInertia, ml::Matrix) | |
DECLARE_SIGNAL_IN (velocity, ml::Vector) | |
DECLARE_SIGNAL_IN (dyndrift, ml::Vector) | |
DECLARE_SIGNAL_IN (damping, double) | |
DECLARE_SIGNAL_IN (breakFactor, double) | |
DECLARE_SIGNAL_IN (posture, ml::Vector) | |
DECLARE_SIGNAL_IN (position, ml::Vector) | |
DECLARE_SIGNAL_OUT (control, ml::Vector) | |
DECLARE_SIGNAL (zmp, OUT, ml::Vector) | |
DECLARE_SIGNAL (acceleration, OUT, ml::Vector) | |
void | addContact (const std::string &name, dynamicgraph::Signal< ml::Matrix, int > *jacobianSignal, dynamicgraph::Signal< ml::Matrix, int > *JdotSignal, dynamicgraph::Signal< ml::Vector, int > *corrSignal, dynamicgraph::Signal< ml::Matrix, int > *contactPointsSignal) |
void | addContactFromTask (const std::string &taskName, const std::string &contactName) |
void | removeContact (const std::string &name) |
void | dispContacts (std::ostream &os) const |
void | debugOnce (void) |
SolverOpSpace (const std::string &name) | |
virtual TaskDependancyList_t | getTaskDependancyList (const TaskDynPD &task) |
virtual void | addDependancy (const TaskDependancyList_t &depList) |
virtual void | removeDependancy (const TaskDependancyList_t &depList) |
virtual void | resetReady (void) |
virtual void | display (std::ostream &os) const |
DECLARE_SIGNAL_IN (matrixInertia, ml::Matrix) | |
DECLARE_SIGNAL_IN (velocity, ml::Vector) | |
DECLARE_SIGNAL_IN (dyndrift, ml::Vector) | |
DECLARE_SIGNAL_IN (damping, double) | |
DECLARE_SIGNAL_IN (breakFactor, double) | |
DECLARE_SIGNAL_IN (posture, ml::Vector) | |
DECLARE_SIGNAL_IN (position, ml::Vector) | |
DECLARE_SIGNAL_OUT (control, ml::Vector) | |
DECLARE_SIGNAL (zmp, OUT, ml::Vector) | |
DECLARE_SIGNAL (acceleration, OUT, ml::Vector) | |
void | addContact (const std::string &name, dynamicgraph::Signal< ml::Matrix, int > *jacobianSignal, dynamicgraph::Signal< ml::Matrix, int > *JdotSignal, dynamicgraph::Signal< ml::Vector, int > *corrSignal, dynamicgraph::Signal< ml::Matrix, int > *contactPointsSignal) |
void | addContactFromTask (const std::string &taskName, const std::string &contactName) |
void | removeContact (const std::string &name) |
void | dispContacts (std::ostream &os) const |
void | debugOnce (void) |
typedef Stack_t::const_iterator dynamicgraph::sot::Stack< TaskGeneric >::StackConstIterator_t |
typedef Stack_t::const_iterator dynamicgraph::sot::Stack< TaskGeneric >::StackConstIterator_t |
typedef Stack_t::const_iterator dynamicgraph::sot::Stack< TaskGeneric >::StackConstIterator_t |
typedef Stack_t::const_iterator dynamicgraph::sot::Stack< TaskGeneric >::StackConstIterator_t |
typedef Stack_t::iterator dynamicgraph::sot::Stack< TaskGeneric >::StackIterator_t |
typedef Stack_t::iterator dynamicgraph::sot::Stack< TaskGeneric >::StackIterator_t |
typedef Stack_t::iterator dynamicgraph::sot::Stack< TaskGeneric >::StackIterator_t |
typedef Stack_t::iterator dynamicgraph::sot::Stack< TaskGeneric >::StackIterator_t |
typedef std::list< const dg::SignalBase<int>* > dynamicgraph::sot::Stack< TaskGeneric >::TaskDependancyList_t |
typedef std::list< const dg::SignalBase<int>* > dynamicgraph::sot::Stack< TaskGeneric >::TaskDependancyList_t |
typedef std::list< const dg::SignalBase<int>* > dynamicgraph::sot::Stack< TaskGeneric >::TaskDependancyList_t |
typedef std::list< const dg::SignalBase<int>* > dynamicgraph::sot::Stack< TaskGeneric >::TaskDependancyList_t |
dynamicgraph::sot::dyninv::SolverOpSpace::SolverOpSpace | ( | const std::string & | name | ) |
References ADD_COMMANDS_FOR_THE_STACK, dynamicgraph::Entity::addCommand(), addContact(), addContactFromTask(), debugOnce(), dispContacts(), docCommandVerbose(), docCommandVoid0(), docCommandVoid1(), docCommandVoid2(), makeCommandVerbose(), makeCommandVoid0(), makeCommandVoid1(), makeCommandVoid2(), removeContact(), and dynamicgraph::Entity::signalRegistration().
dynamicgraph::sot::dyninv::SolverOpSpace::SolverOpSpace | ( | const std::string & | name | ) |
void dynamicgraph::sot::dyninv::SolverOpSpace::addContact | ( | const std::string & | name, |
dynamicgraph::Signal< ml::Matrix, int > * | jacobianSignal, | ||
dynamicgraph::Signal< ml::Matrix, int > * | JdotSignal, | ||
dynamicgraph::Signal< ml::Vector, int > * | corrSignal, | ||
dynamicgraph::Signal< ml::Matrix, int > * | contactPointsSignal | ||
) |
References dynamicgraph::Entity::getName(), dynamicgraph::Entity::name, and dynamicgraph::Entity::signalRegistration().
Referenced by addContactFromTask(), and SolverOpSpace().
void dynamicgraph::sot::dyninv::SolverOpSpace::addContact | ( | const std::string & | name, |
dynamicgraph::Signal< ml::Matrix, int > * | jacobianSignal, | ||
dynamicgraph::Signal< ml::Matrix, int > * | JdotSignal, | ||
dynamicgraph::Signal< ml::Vector, int > * | corrSignal, | ||
dynamicgraph::Signal< ml::Matrix, int > * | contactPointsSignal | ||
) |
void dynamicgraph::sot::dyninv::SolverOpSpace::addContactFromTask | ( | const std::string & | taskName, |
const std::string & | contactName | ||
) |
void dynamicgraph::sot::dyninv::SolverOpSpace::addContactFromTask | ( | const std::string & | taskName, |
const std::string & | contactName | ||
) |
void dynamicgraph::sot::dyninv::SolverOpSpace::addDependancy | ( | const TaskDependancyList_t & | depList | ) | [virtual] |
Implements dynamicgraph::sot::Stack< TaskDynPD >.
virtual void dynamicgraph::sot::dyninv::SolverOpSpace::addDependancy | ( | const TaskDependancyList_t & | depList | ) | [virtual] |
Implements dynamicgraph::sot::Stack< TaskDynPD >.
void dynamicgraph::sot::dyninv::SolverOpSpace::debugOnce | ( | void | ) |
void dynamicgraph::sot::dyninv::SolverOpSpace::debugOnce | ( | void | ) |
Referenced by SolverOpSpace().
dynamicgraph::sot::dyninv::SolverOpSpace::DECLARE_SIGNAL | ( | zmp | , |
OUT | , | ||
ml::Vector | |||
) |
dynamicgraph::sot::dyninv::SolverOpSpace::DECLARE_SIGNAL | ( | zmp | , |
OUT | , | ||
ml::Vector | |||
) |
dynamicgraph::sot::dyninv::SolverOpSpace::DECLARE_SIGNAL | ( | acceleration | , |
OUT | , | ||
ml::Vector | |||
) |
dynamicgraph::sot::dyninv::SolverOpSpace::DECLARE_SIGNAL | ( | acceleration | , |
OUT | , | ||
ml::Vector | |||
) |
dynamicgraph::sot::dyninv::SolverOpSpace::DECLARE_SIGNAL_IN | ( | matrixInertia | , |
ml::Matrix | |||
) |
dynamicgraph::sot::dyninv::SolverOpSpace::DECLARE_SIGNAL_IN | ( | matrixInertia | , |
ml::Matrix | |||
) |
dynamicgraph::sot::dyninv::SolverOpSpace::DECLARE_SIGNAL_IN | ( | velocity | , |
ml::Vector | |||
) |
dynamicgraph::sot::dyninv::SolverOpSpace::DECLARE_SIGNAL_IN | ( | velocity | , |
ml::Vector | |||
) |
dynamicgraph::sot::dyninv::SolverOpSpace::DECLARE_SIGNAL_IN | ( | dyndrift | , |
ml::Vector | |||
) |
dynamicgraph::sot::dyninv::SolverOpSpace::DECLARE_SIGNAL_IN | ( | dyndrift | , |
ml::Vector | |||
) |
dynamicgraph::sot::dyninv::SolverOpSpace::DECLARE_SIGNAL_IN | ( | damping | , |
double | |||
) |
dynamicgraph::sot::dyninv::SolverOpSpace::DECLARE_SIGNAL_IN | ( | damping | , |
double | |||
) |
dynamicgraph::sot::dyninv::SolverOpSpace::DECLARE_SIGNAL_IN | ( | breakFactor | , |
double | |||
) |
dynamicgraph::sot::dyninv::SolverOpSpace::DECLARE_SIGNAL_IN | ( | breakFactor | , |
double | |||
) |
dynamicgraph::sot::dyninv::SolverOpSpace::DECLARE_SIGNAL_IN | ( | posture | , |
ml::Vector | |||
) |
dynamicgraph::sot::dyninv::SolverOpSpace::DECLARE_SIGNAL_IN | ( | posture | , |
ml::Vector | |||
) |
dynamicgraph::sot::dyninv::SolverOpSpace::DECLARE_SIGNAL_IN | ( | position | , |
ml::Vector | |||
) |
dynamicgraph::sot::dyninv::SolverOpSpace::DECLARE_SIGNAL_IN | ( | position | , |
ml::Vector | |||
) |
dynamicgraph::sot::dyninv::SolverOpSpace::DECLARE_SIGNAL_OUT | ( | control | , |
ml::Vector | |||
) |
dynamicgraph::sot::dyninv::SolverOpSpace::DECLARE_SIGNAL_OUT | ( | control | , |
ml::Vector | |||
) |
void dynamicgraph::sot::dyninv::SolverOpSpace::dispContacts | ( | std::ostream & | os | ) | const |
Referenced by display(), and SolverOpSpace().
void dynamicgraph::sot::dyninv::SolverOpSpace::dispContacts | ( | std::ostream & | os | ) | const |
void dynamicgraph::sot::dyninv::SolverOpSpace::display | ( | std::ostream & | os | ) | const [virtual] |
Reimplemented from dynamicgraph::Entity.
References dispContacts(), dynamicgraph::Entity::getName(), and dynamicgraph::sot::Stack< TaskDynPD >::nbDofs.
virtual void dynamicgraph::sot::dyninv::SolverOpSpace::display | ( | std::ostream & | os | ) | const [virtual] |
Reimplemented from dynamicgraph::Entity.
virtual TaskDependancyList_t dynamicgraph::sot::dyninv::SolverOpSpace::getTaskDependancyList | ( | const TaskDynPD & | task | ) | [virtual] |
SolverOpSpace::TaskDependancyList_t dynamicgraph::sot::dyninv::SolverOpSpace::getTaskDependancyList | ( | const TaskDynPD & | task | ) | [virtual] |
void dynamicgraph::sot::dyninv::SolverOpSpace::removeContact | ( | const std::string & | name | ) |
References dynamicgraph::Entity::signalDeregistration(), and dynamicgraph::sot::dyninv::signalShortName().
Referenced by SolverOpSpace().
void dynamicgraph::sot::dyninv::SolverOpSpace::removeContact | ( | const std::string & | name | ) |
void dynamicgraph::sot::dyninv::SolverOpSpace::removeDependancy | ( | const TaskDependancyList_t & | depList | ) | [virtual] |
Implements dynamicgraph::sot::Stack< TaskDynPD >.
virtual void dynamicgraph::sot::dyninv::SolverOpSpace::removeDependancy | ( | const TaskDependancyList_t & | depList | ) | [virtual] |
Implements dynamicgraph::sot::Stack< TaskDynPD >.
virtual void dynamicgraph::sot::dyninv::SolverOpSpace::resetReady | ( | void | ) | [virtual] |
Implements dynamicgraph::sot::Stack< TaskDynPD >.
void dynamicgraph::sot::dyninv::SolverOpSpace::resetReady | ( | void | ) | [virtual] |
Implements dynamicgraph::sot::Stack< TaskDynPD >.