10 #ifndef __SOT_TASK_H__ 11 #define __SOT_TASK_H__ 18 #include <dynamic-graph/linear-algebra.h> 36 #if defined task_EXPORTS 37 #define SOTTASK_EXPORT __declspec(dllexport) 39 #define SOTTASK_EXPORT __declspec(dllimport) 42 #define SOTTASK_EXPORT 83 DYNAMIC_GRAPH_ENTITY_DECL();
86 Task(
const std::string &n);
87 void initCommands(
void);
90 void addFeatureFromName(
const std::string &name);
91 void clearFeatureList(
void);
94 void setControlSelection(
const Flags &act);
95 void addControlSelection(
const Flags &act);
96 void clearControlSelection(
void);
98 void setWithDerivative(
const bool &s);
99 bool getWithDerivative(
void);
102 dg::Vector &computeError(dg::Vector &error,
int time);
105 dg::Matrix &computeJacobian(dg::Matrix &J,
int time);
106 dg::Vector &computeErrorTimeDerivative(dg::Vector &res,
int time);
117 void display(std::ostream &os)
const;
120 virtual std::ostream &writeGraph(std::ostream &os)
const;
dg::SignalPtr< double, int > controlGainSIN
Definition: task.hh:110
FeatureList_t featureList
Definition: task.hh:80
dg::SignalPtr< double, int > dampingGainSINOUT
Definition: task.hh:111
std::vector< MultiBound > VectorMultiBound
Definition: multi-bound.hh:68
dg::SignalPtr< Flags, int > controlSelectionSIN
Definition: task.hh:112
bool withDerivative
Definition: task.hh:81
#define SOTTASK_EXPORT
Definition: task.hh:42
dg::SignalTimeDependent< dg::Vector, int > errorSOUT
Definition: task.hh:113
Definition: task-abstract.hh:49
This class gives the abstract definition of a feature.
Definition: feature-abstract.hh:76
Class that defines the basic elements of a task.
Definition: task.hh:75
std::list< FeatureAbstract * > FeatureList_t
Definition: task.hh:77
dg::SignalTimeDependent< dg::Vector, int > errorTimeDerivativeSOUT
Definition: task.hh:114
FeatureList_t & getFeatureList(void)
Definition: task.hh:92
Definition: abstract-sot-external-interface.hh:17