#include <solver-dyn-reduced.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 | |
SolverDynReduced (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, dg::Matrix) | |
DECLARE_SIGNAL_IN (inertiaSqroot, dg::Matrix) | |
DECLARE_SIGNAL_IN (inertiaSqrootInv, dg::Matrix) | |
DECLARE_SIGNAL_IN (velocity, dg::Vector) | |
DECLARE_SIGNAL_IN (dyndrift, dg::Vector) | |
DECLARE_SIGNAL_IN (damping, double) | |
DECLARE_SIGNAL_IN (breakFactor, double) | |
DECLARE_SIGNAL_IN (posture, dg::Vector) | |
DECLARE_SIGNAL_IN (position, dg::Vector) | |
DECLARE_SIGNAL_OUT (precompute, int) | |
DECLARE_SIGNAL_OUT (inertiaSqrootOut, dg::Matrix) | |
DECLARE_SIGNAL_OUT (inertiaSqrootInvOut, dg::Matrix) | |
DECLARE_SIGNAL_OUT (sizeForcePoint, int) | |
DECLARE_SIGNAL_OUT (sizeForceSpatial, int) | |
DECLARE_SIGNAL_OUT (sizeConfiguration, int) | |
DECLARE_SIGNAL_OUT (Jc, dg::Matrix) | |
DECLARE_SIGNAL_OUT (forceGenerator, dg::Matrix) | |
DECLARE_SIGNAL_OUT (freeMotionBase, dg::Matrix) | |
DECLARE_SIGNAL_OUT (freeForceBase, dg::Matrix) | |
DECLARE_SIGNAL_OUT (driftContact, dg::Vector) | |
DECLARE_SIGNAL_OUT (sizeMotion, int) | |
DECLARE_SIGNAL_OUT (sizeActuation, int) | |
DECLARE_SIGNAL_OUT (solution, dg::Vector) | |
DECLARE_SIGNAL_OUT (reducedControl, dg::Vector) | |
DECLARE_SIGNAL_OUT (reducedForce, dg::Vector) | |
DECLARE_SIGNAL_OUT (acceleration, dg::Vector) | |
DECLARE_SIGNAL_OUT (forces, dg::Vector) | |
DECLARE_SIGNAL_OUT (torque, dg::Vector) | |
DECLARE_SIGNAL_OUT (forcesNormal, dg::Vector) | |
DECLARE_SIGNAL_OUT (activeForces, dg::Vector) | |
DECLARE_SIGNAL (Jcdot, OUT, dg::Matrix) | |
void | addContact (const std::string &name, dynamicgraph::Signal< dg::Matrix, int > *jacobianSignal, dynamicgraph::Signal< dg::Matrix, int > *JdotSignal, dynamicgraph::Signal< dg::Vector, int > *corrSignal, dynamicgraph::Signal< dg::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 |
matrixSINPtr | getSupportSIN (const std::string &contacName) |
void | debugOnce (void) |
SolverDynReduced (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, dg::Matrix) | |
DECLARE_SIGNAL_IN (inertiaSqroot, dg::Matrix) | |
DECLARE_SIGNAL_IN (inertiaSqrootInv, dg::Matrix) | |
DECLARE_SIGNAL_IN (velocity, dg::Vector) | |
DECLARE_SIGNAL_IN (dyndrift, dg::Vector) | |
DECLARE_SIGNAL_IN (damping, double) | |
DECLARE_SIGNAL_IN (breakFactor, double) | |
DECLARE_SIGNAL_IN (posture, dg::Vector) | |
DECLARE_SIGNAL_IN (position, dg::Vector) | |
DECLARE_SIGNAL_OUT (precompute, int) | |
DECLARE_SIGNAL_OUT (inertiaSqrootOut, dg::Matrix) | |
DECLARE_SIGNAL_OUT (inertiaSqrootInvOut, dg::Matrix) | |
DECLARE_SIGNAL_OUT (sizeForcePoint, int) | |
DECLARE_SIGNAL_OUT (sizeForceSpatial, int) | |
DECLARE_SIGNAL_OUT (sizeConfiguration, int) | |
DECLARE_SIGNAL_OUT (Jc, dg::Matrix) | |
DECLARE_SIGNAL_OUT (forceGenerator, dg::Matrix) | |
DECLARE_SIGNAL_OUT (freeMotionBase, dg::Matrix) | |
DECLARE_SIGNAL_OUT (freeForceBase, dg::Matrix) | |
DECLARE_SIGNAL_OUT (driftContact, dg::Vector) | |
DECLARE_SIGNAL_OUT (sizeMotion, int) | |
DECLARE_SIGNAL_OUT (sizeActuation, int) | |
DECLARE_SIGNAL_OUT (solution, dg::Vector) | |
DECLARE_SIGNAL_OUT (reducedControl, dg::Vector) | |
DECLARE_SIGNAL_OUT (reducedForce, dg::Vector) | |
DECLARE_SIGNAL_OUT (acceleration, dg::Vector) | |
DECLARE_SIGNAL_OUT (forces, dg::Vector) | |
DECLARE_SIGNAL_OUT (torque, dg::Vector) | |
DECLARE_SIGNAL_OUT (forcesNormal, dg::Vector) | |
DECLARE_SIGNAL_OUT (activeForces, dg::Vector) | |
DECLARE_SIGNAL (Jcdot, OUT, dg::Matrix) | |
void | addContact (const std::string &name, dynamicgraph::Signal< dg::Matrix, int > *jacobianSignal, dynamicgraph::Signal< dg::Matrix, int > *JdotSignal, dynamicgraph::Signal< dg::Vector, int > *corrSignal, dynamicgraph::Signal< dg::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 |
matrixSINPtr | getSupportSIN (const std::string &contacName) |
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::SolverDynReduced::SolverDynReduced | ( | 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::SolverDynReduced::SolverDynReduced | ( | const std::string & | name | ) |
void dynamicgraph::sot::dyninv::SolverDynReduced::addContact | ( | const std::string & | name, |
dynamicgraph::Signal< dg::Matrix, int > * | jacobianSignal, | ||
dynamicgraph::Signal< dg::Matrix, int > * | JdotSignal, | ||
dynamicgraph::Signal< dg::Vector, int > * | corrSignal, | ||
dynamicgraph::Signal< dg::Matrix, int > * | contactPointsSignal | ||
) |
References dynamicgraph::Entity::getName(), dynamicgraph::Entity::name, and dynamicgraph::Entity::signalRegistration().
Referenced by addContactFromTask(), and SolverDynReduced().
void dynamicgraph::sot::dyninv::SolverDynReduced::addContact | ( | const std::string & | name, |
dynamicgraph::Signal< dg::Matrix, int > * | jacobianSignal, | ||
dynamicgraph::Signal< dg::Matrix, int > * | JdotSignal, | ||
dynamicgraph::Signal< dg::Vector, int > * | corrSignal, | ||
dynamicgraph::Signal< dg::Matrix, int > * | contactPointsSignal | ||
) |
void dynamicgraph::sot::dyninv::SolverDynReduced::addContactFromTask | ( | const std::string & | taskName, |
const std::string & | contactName | ||
) |
void dynamicgraph::sot::dyninv::SolverDynReduced::addContactFromTask | ( | const std::string & | taskName, |
const std::string & | contactName | ||
) |
void dynamicgraph::sot::dyninv::SolverDynReduced::addDependancy | ( | const TaskDependancyList_t & | depList | ) | [virtual] |
Implements dynamicgraph::sot::Stack< TaskDynPD >.
virtual void dynamicgraph::sot::dyninv::SolverDynReduced::addDependancy | ( | const TaskDependancyList_t & | depList | ) | [virtual] |
Implements dynamicgraph::sot::Stack< TaskDynPD >.
void dynamicgraph::sot::dyninv::SolverDynReduced::debugOnce | ( | void | ) |
void dynamicgraph::sot::dyninv::SolverDynReduced::debugOnce | ( | void | ) |
Referenced by SolverDynReduced().
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL | ( | Jcdot | , |
OUT | , | ||
dg::Matrix | |||
) |
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL | ( | Jcdot | , |
OUT | , | ||
dg::Matrix | |||
) |
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_IN | ( | matrixInertia | , |
dg::Matrix | |||
) |
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_IN | ( | matrixInertia | , |
dg::Matrix | |||
) |
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_IN | ( | inertiaSqroot | , |
dg::Matrix | |||
) |
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_IN | ( | inertiaSqroot | , |
dg::Matrix | |||
) |
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_IN | ( | inertiaSqrootInv | , |
dg::Matrix | |||
) |
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_IN | ( | inertiaSqrootInv | , |
dg::Matrix | |||
) |
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_IN | ( | velocity | , |
dg::Vector | |||
) |
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_IN | ( | velocity | , |
dg::Vector | |||
) |
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_IN | ( | dyndrift | , |
dg::Vector | |||
) |
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_IN | ( | dyndrift | , |
dg::Vector | |||
) |
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_IN | ( | damping | , |
double | |||
) |
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_IN | ( | damping | , |
double | |||
) |
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_IN | ( | breakFactor | , |
double | |||
) |
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_IN | ( | breakFactor | , |
double | |||
) |
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_IN | ( | posture | , |
dg::Vector | |||
) |
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_IN | ( | posture | , |
dg::Vector | |||
) |
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_IN | ( | position | , |
dg::Vector | |||
) |
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_IN | ( | position | , |
dg::Vector | |||
) |
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_OUT | ( | precompute | , |
int | |||
) |
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_OUT | ( | precompute | , |
int | |||
) |
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_OUT | ( | inertiaSqrootOut | , |
dg::Matrix | |||
) |
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_OUT | ( | inertiaSqrootOut | , |
dg::Matrix | |||
) |
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_OUT | ( | inertiaSqrootInvOut | , |
dg::Matrix | |||
) |
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_OUT | ( | inertiaSqrootInvOut | , |
dg::Matrix | |||
) |
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_OUT | ( | sizeForcePoint | , |
int | |||
) |
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_OUT | ( | sizeForcePoint | , |
int | |||
) |
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_OUT | ( | sizeForceSpatial | , |
int | |||
) |
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_OUT | ( | sizeForceSpatial | , |
int | |||
) |
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_OUT | ( | sizeConfiguration | , |
int | |||
) |
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_OUT | ( | sizeConfiguration | , |
int | |||
) |
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_OUT | ( | Jc | , |
dg::Matrix | |||
) |
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_OUT | ( | Jc | , |
dg::Matrix | |||
) |
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_OUT | ( | forceGenerator | , |
dg::Matrix | |||
) |
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_OUT | ( | forceGenerator | , |
dg::Matrix | |||
) |
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_OUT | ( | freeMotionBase | , |
dg::Matrix | |||
) |
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_OUT | ( | freeMotionBase | , |
dg::Matrix | |||
) |
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_OUT | ( | freeForceBase | , |
dg::Matrix | |||
) |
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_OUT | ( | freeForceBase | , |
dg::Matrix | |||
) |
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_OUT | ( | driftContact | , |
dg::Vector | |||
) |
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_OUT | ( | driftContact | , |
dg::Vector | |||
) |
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_OUT | ( | sizeMotion | , |
int | |||
) |
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_OUT | ( | sizeMotion | , |
int | |||
) |
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_OUT | ( | sizeActuation | , |
int | |||
) |
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_OUT | ( | sizeActuation | , |
int | |||
) |
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_OUT | ( | solution | , |
dg::Vector | |||
) |
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_OUT | ( | solution | , |
dg::Vector | |||
) |
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_OUT | ( | reducedControl | , |
dg::Vector | |||
) |
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_OUT | ( | reducedControl | , |
dg::Vector | |||
) |
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_OUT | ( | reducedForce | , |
dg::Vector | |||
) |
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_OUT | ( | reducedForce | , |
dg::Vector | |||
) |
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_OUT | ( | acceleration | , |
dg::Vector | |||
) |
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_OUT | ( | acceleration | , |
dg::Vector | |||
) |
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_OUT | ( | forces | , |
dg::Vector | |||
) |
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_OUT | ( | forces | , |
dg::Vector | |||
) |
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_OUT | ( | torque | , |
dg::Vector | |||
) |
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_OUT | ( | torque | , |
dg::Vector | |||
) |
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_OUT | ( | forcesNormal | , |
dg::Vector | |||
) |
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_OUT | ( | forcesNormal | , |
dg::Vector | |||
) |
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_OUT | ( | activeForces | , |
dg::Vector | |||
) |
dynamicgraph::sot::dyninv::SolverDynReduced::DECLARE_SIGNAL_OUT | ( | activeForces | , |
dg::Vector | |||
) |
void dynamicgraph::sot::dyninv::SolverDynReduced::dispContacts | ( | std::ostream & | os | ) | const |
void dynamicgraph::sot::dyninv::SolverDynReduced::dispContacts | ( | std::ostream & | os | ) | const |
Referenced by display(), and SolverDynReduced().
virtual void dynamicgraph::sot::dyninv::SolverDynReduced::display | ( | std::ostream & | os | ) | const [virtual] |
Reimplemented from dynamicgraph::Entity.
void dynamicgraph::sot::dyninv::SolverDynReduced::display | ( | std::ostream & | os | ) | const [virtual] |
Reimplemented from dynamicgraph::Entity.
References dispContacts(), dynamicgraph::Entity::getName(), and dynamicgraph::sot::Stack< TaskDynPD >::nbDofs.
SolverDynReduced::matrixSINPtr dynamicgraph::sot::dyninv::SolverDynReduced::getSupportSIN | ( | const std::string & | contacName | ) |
matrixSINPtr dynamicgraph::sot::dyninv::SolverDynReduced::getSupportSIN | ( | const std::string & | contacName | ) |
virtual TaskDependancyList_t dynamicgraph::sot::dyninv::SolverDynReduced::getTaskDependancyList | ( | const TaskDynPD & | task | ) | [virtual] |
SolverDynReduced::TaskDependancyList_t dynamicgraph::sot::dyninv::SolverDynReduced::getTaskDependancyList | ( | const TaskDynPD & | task | ) | [virtual] |
void dynamicgraph::sot::dyninv::SolverDynReduced::removeContact | ( | const std::string & | name | ) |
void dynamicgraph::sot::dyninv::SolverDynReduced::removeContact | ( | const std::string & | name | ) |
References dynamicgraph::Entity::signalDeregistration(), and dynamicgraph::sot::dyninv::signalShortName().
Referenced by SolverDynReduced().
void dynamicgraph::sot::dyninv::SolverDynReduced::removeDependancy | ( | const TaskDependancyList_t & | depList | ) | [virtual] |
Implements dynamicgraph::sot::Stack< TaskDynPD >.
virtual void dynamicgraph::sot::dyninv::SolverDynReduced::removeDependancy | ( | const TaskDependancyList_t & | depList | ) | [virtual] |
Implements dynamicgraph::sot::Stack< TaskDynPD >.
virtual void dynamicgraph::sot::dyninv::SolverDynReduced::resetReady | ( | void | ) | [virtual] |
Implements dynamicgraph::sot::Stack< TaskDynPD >.
void dynamicgraph::sot::dyninv::SolverDynReduced::resetReady | ( | void | ) | [virtual] |
Implements dynamicgraph::sot::Stack< TaskDynPD >.