dynamicgraph::sot::dyninv::SolverOpSpace Class Reference

#include <solver-op-space.h>

Inheritance diagram for dynamicgraph::sot::dyninv::SolverOpSpace:
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Collaboration diagram for dynamicgraph::sot::dyninv::SolverOpSpace:
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List of all members.

Classes

struct  Contact

Public Types

typedef sot::Stack< TaskDynPDstack_t
typedef sot::Stack< TaskDynPDstack_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, 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 (control, dg::Vector)
 DECLARE_SIGNAL (zmp, OUT, dg::Vector)
 DECLARE_SIGNAL (acceleration, OUT, dg::Vector)
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
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, 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 (control, dg::Vector)
 DECLARE_SIGNAL (zmp, OUT, dg::Vector)
 DECLARE_SIGNAL (acceleration, OUT, dg::Vector)
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
void debugOnce (void)

Member Typedef Documentation

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

Constructor & Destructor Documentation

dynamicgraph::sot::dyninv::SolverOpSpace::SolverOpSpace ( const std::string &  name)

Member Function Documentation

void dynamicgraph::sot::dyninv::SolverOpSpace::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::SolverOpSpace::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::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]
virtual void dynamicgraph::sot::dyninv::SolverOpSpace::addDependancy ( const TaskDependancyList_t depList) [virtual]
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  ,
dg::Vector   
)
dynamicgraph::sot::dyninv::SolverOpSpace::DECLARE_SIGNAL ( zmp  ,
OUT  ,
dg::Vector   
)
dynamicgraph::sot::dyninv::SolverOpSpace::DECLARE_SIGNAL ( acceleration  ,
OUT  ,
dg::Vector   
)
dynamicgraph::sot::dyninv::SolverOpSpace::DECLARE_SIGNAL ( acceleration  ,
OUT  ,
dg::Vector   
)
dynamicgraph::sot::dyninv::SolverOpSpace::DECLARE_SIGNAL_IN ( matrixInertia  ,
dg::Matrix   
)
dynamicgraph::sot::dyninv::SolverOpSpace::DECLARE_SIGNAL_IN ( matrixInertia  ,
dg::Matrix   
)
dynamicgraph::sot::dyninv::SolverOpSpace::DECLARE_SIGNAL_IN ( velocity  ,
dg::Vector   
)
dynamicgraph::sot::dyninv::SolverOpSpace::DECLARE_SIGNAL_IN ( velocity  ,
dg::Vector   
)
dynamicgraph::sot::dyninv::SolverOpSpace::DECLARE_SIGNAL_IN ( dyndrift  ,
dg::Vector   
)
dynamicgraph::sot::dyninv::SolverOpSpace::DECLARE_SIGNAL_IN ( dyndrift  ,
dg::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  ,
dg::Vector   
)
dynamicgraph::sot::dyninv::SolverOpSpace::DECLARE_SIGNAL_IN ( posture  ,
dg::Vector   
)
dynamicgraph::sot::dyninv::SolverOpSpace::DECLARE_SIGNAL_IN ( position  ,
dg::Vector   
)
dynamicgraph::sot::dyninv::SolverOpSpace::DECLARE_SIGNAL_IN ( position  ,
dg::Vector   
)
dynamicgraph::sot::dyninv::SolverOpSpace::DECLARE_SIGNAL_OUT ( control  ,
dg::Vector   
)
dynamicgraph::sot::dyninv::SolverOpSpace::DECLARE_SIGNAL_OUT ( control  ,
dg::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]
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)
void dynamicgraph::sot::dyninv::SolverOpSpace::removeContact ( const std::string &  name)
void dynamicgraph::sot::dyninv::SolverOpSpace::removeDependancy ( const TaskDependancyList_t depList) [virtual]
virtual void dynamicgraph::sot::dyninv::SolverOpSpace::removeDependancy ( const TaskDependancyList_t depList) [virtual]
virtual void dynamicgraph::sot::dyninv::SolverOpSpace::resetReady ( void  ) [virtual]
void dynamicgraph::sot::dyninv::SolverOpSpace::resetReady ( void  ) [virtual]