#include <dynamic-integrator.h>
Public Member Functions | |
DynamicIntegrator (const std::string &name) | |
virtual void | display (std::ostream &os) const |
virtual void | commandLine (const std::string &cmdLine, std::istringstream &cmdArgs, std::ostream &os) |
DECLARE_SIGNAL_IN (acceleration, ml::Vector) | |
DECLARE_SIGNAL_IN (dt, double) | |
DECLARE_SIGNAL_OUT (velocity, ml::Vector) | |
DECLARE_SIGNAL_OUT (position, ml::Vector) | |
void | integrate (const ml::Vector &acceleration, const double &dt, ml::Vector &velocity, ml::Vector &position) |
void | integrateFromSignals (const int &time) |
void | integrateFromSignals (void) |
void | setPosition (const ml::Vector &p) |
void | setVelocity (const ml::Vector &v) |
void | setState (const ml::Vector &p, const ml::Vector &v) |
DynamicIntegrator (const std::string &name) | |
virtual void | display (std::ostream &os) const |
virtual void | commandLine (const std::string &cmdLine, std::istringstream &cmdArgs, std::ostream &os) |
DECLARE_SIGNAL_IN (acceleration, ml::Vector) | |
DECLARE_SIGNAL_IN (dt, double) | |
DECLARE_SIGNAL_OUT (velocity, ml::Vector) | |
DECLARE_SIGNAL_OUT (position, ml::Vector) | |
void | integrate (const ml::Vector &acceleration, const double &dt, ml::Vector &velocity, ml::Vector &position) |
void | integrateFromSignals (const int &time) |
void | integrateFromSignals (void) |
void | setPosition (const ml::Vector &p) |
void | setVelocity (const ml::Vector &v) |
void | setState (const ml::Vector &p, const ml::Vector &v) |
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Entity (const std::string &name) | |
virtual | ~Entity () |
const std::string & | getName () const |
virtual const std::string & | getClassName () const=0 |
virtual std::string | getDocString () const |
bool | hasSignal (const std::string &signame) const |
SignalBase< int > & | getSignal (const std::string &signalName) |
const SignalBase< int > & | getSignal (const std::string &signalName) const |
std::ostream & | displaySignalList (std::ostream &os) const |
virtual std::ostream & | writeGraph (std::ostream &os) const |
virtual std::ostream & | writeCompletionList (std::ostream &os) const |
virtual SignalBase< int > * | test () |
virtual void | test2 (SignalBase< int > *) |
const std::string & | getCommandList () const |
CommandMap_t | getNewStyleCommandMap () |
command::Command * | getNewStyleCommand (const std::string &cmdName) |
SignalMap | getSignalMap () const |
Protected Attributes | |
ml::Vector | position |
ml::Vector | velocity |
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std::string | name |
SignalMap | signalMap |
CommandMap_t | commandMap |
Additional Inherited Members | |
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typedef std::map< std::string, SignalBase< int > * > | SignalMap |
typedef std::map< const std::string, command::Command *> | CommandMap_t |
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typedef Ent | EntityClassName |
typedef Ent | EntityClassName |
typedef Ent | EntityClassName |
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void | addCommand (const std::string &name, command::Command *command) |
void | entityRegistration () |
void | entityDeregistration () |
void | signalRegistration (const SignalArray< int > &signals) |
void | signalDeregistration (const std::string &name) |
dynamicgraph::sot::dyninv::DynamicIntegrator::DynamicIntegrator | ( | const std::string & | name | ) |
dynamicgraph::sot::dyninv::DynamicIntegrator::DynamicIntegrator | ( | const std::string & | name | ) |
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virtual |
Reimplemented from dynamicgraph::Entity.
Reimplemented in dynamicgraph::sot::dyninv::PseudoRobotDynamic, and dynamicgraph::sot::dyninv::PseudoRobotDynamic.
References dynamicgraph::Entity::commandLine(), and integrateFromSignals().
Referenced by display().
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virtual |
Reimplemented from dynamicgraph::Entity.
Reimplemented in dynamicgraph::sot::dyninv::PseudoRobotDynamic, and dynamicgraph::sot::dyninv::PseudoRobotDynamic.
dynamicgraph::sot::dyninv::DynamicIntegrator::DECLARE_SIGNAL_IN | ( | acceleration | , |
ml::Vector | |||
) |
dynamicgraph::sot::dyninv::DynamicIntegrator::DECLARE_SIGNAL_IN | ( | acceleration | , |
ml::Vector | |||
) |
dynamicgraph::sot::dyninv::DynamicIntegrator::DECLARE_SIGNAL_IN | ( | dt | , |
double | |||
) |
dynamicgraph::sot::dyninv::DynamicIntegrator::DECLARE_SIGNAL_IN | ( | dt | , |
double | |||
) |
dynamicgraph::sot::dyninv::DynamicIntegrator::DECLARE_SIGNAL_OUT | ( | velocity | , |
ml::Vector | |||
) |
dynamicgraph::sot::dyninv::DynamicIntegrator::DECLARE_SIGNAL_OUT | ( | velocity | , |
ml::Vector | |||
) |
dynamicgraph::sot::dyninv::DynamicIntegrator::DECLARE_SIGNAL_OUT | ( | position | , |
ml::Vector | |||
) |
dynamicgraph::sot::dyninv::DynamicIntegrator::DECLARE_SIGNAL_OUT | ( | position | , |
ml::Vector | |||
) |
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virtual |
Reimplemented from dynamicgraph::Entity.
Reimplemented in dynamicgraph::sot::dyninv::PseudoRobotDynamic, and dynamicgraph::sot::dyninv::PseudoRobotDynamic.
References commandLine(), and dynamicgraph::Entity::getName().
Referenced by integrate().
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virtual |
Reimplemented from dynamicgraph::Entity.
Reimplemented in dynamicgraph::sot::dyninv::PseudoRobotDynamic, and dynamicgraph::sot::dyninv::PseudoRobotDynamic.
void dynamicgraph::sot::dyninv::DynamicIntegrator::integrate | ( | const ml::Vector & | acceleration, |
const double & | dt, | ||
ml::Vector & | velocity, | ||
ml::Vector & | position | ||
) |
void dynamicgraph::sot::dyninv::DynamicIntegrator::integrate | ( | const ml::Vector & | acceleration, |
const double & | dt, | ||
ml::Vector & | velocity, | ||
ml::Vector & | position | ||
) |
References dynamicgraph::sot::dyninv::DynamicIntegratorStatic::amelif2djj(), dynamicgraph::sot::dyninv::DynamicIntegratorStatic::computeEulerFromRotationMatrix(), dynamicgraph::sot::dyninv::DynamicIntegratorStatic::computeRotationMatrixFromEuler(), display(), dynamicgraph::sot::dyninv::DynamicIntegratorStatic::djj2amelif(), EIGEN_CONST_VECTOR_FROM_SIGNAL, EIGEN_VECTOR_FROM_SIGNAL, position, maal::boost::Vector::size(), dynamicgraph::sot::dyninv::DynamicIntegratorStatic::skew(), sotDEBUG, sotDEBUGIN, sotDEBUGOUT, and velocity.
Referenced by dynamicgraph::sot::dyninv::DynamicIntegratorStatic::amelif2djj(), and integrateFromSignals().
void dynamicgraph::sot::dyninv::DynamicIntegrator::integrateFromSignals | ( | const int & | time | ) |
References integrate(), integrateFromSignals(), position, and velocity.
void dynamicgraph::sot::dyninv::DynamicIntegrator::integrateFromSignals | ( | const int & | time | ) |
void dynamicgraph::sot::dyninv::DynamicIntegrator::integrateFromSignals | ( | void | ) |
void dynamicgraph::sot::dyninv::DynamicIntegrator::integrateFromSignals | ( | void | ) |
References setPosition().
Referenced by commandLine(), DynamicIntegrator(), integrateFromSignals(), and dynamicgraph::sot::dyninv::PseudoRobotDynamic::PseudoRobotDynamic().
void dynamicgraph::sot::dyninv::DynamicIntegrator::setPosition | ( | const ml::Vector & | p | ) |
References position, and setVelocity().
Referenced by integrateFromSignals().
void dynamicgraph::sot::dyninv::DynamicIntegrator::setPosition | ( | const ml::Vector & | p | ) |
void dynamicgraph::sot::dyninv::DynamicIntegrator::setState | ( | const ml::Vector & | p, |
const ml::Vector & | v | ||
) |
void dynamicgraph::sot::dyninv::DynamicIntegrator::setState | ( | const ml::Vector & | p, |
const ml::Vector & | v | ||
) |
References position, sotDEBUG, and velocity.
Referenced by dynamicgraph::sot::dyninv::PseudoRobotDynamic::replaceSimulatorEntity(), and setVelocity().
void dynamicgraph::sot::dyninv::DynamicIntegrator::setVelocity | ( | const ml::Vector & | v | ) |
References setState(), and velocity.
Referenced by setPosition().
void dynamicgraph::sot::dyninv::DynamicIntegrator::setVelocity | ( | const ml::Vector & | v | ) |
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protected |
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protected |