#include <task-inequality.h>
Public Member Functions | |
TaskInequality (const std::string &name) | |
virtual void | display (std::ostream &os) const |
DECLARE_SIGNAL_IN (referenceInf, ml::Vector) | |
DECLARE_SIGNAL_IN (referenceSup, ml::Vector) | |
DECLARE_SIGNAL_IN (dt, double) | |
DECLARE_SIGNAL_IN (selec, Flags) | |
DECLARE_SIGNAL_OUT (normalizedPosition, ml::Vector) | |
DECLARE_SIGNAL_OUT (size, int) | |
dg::sot::VectorMultiBound & | computeTask (dg::sot::VectorMultiBound &res, int time) |
ml::Matrix & | computeJacobian (ml::Matrix &res, int time) |
TaskInequality (const std::string &name) | |
virtual void | display (std::ostream &os) const |
DECLARE_SIGNAL_IN (referenceInf, ml::Vector) | |
DECLARE_SIGNAL_IN (referenceSup, ml::Vector) | |
DECLARE_SIGNAL_IN (dt, double) | |
DECLARE_SIGNAL_IN (selec, Flags) | |
DECLARE_SIGNAL_OUT (normalizedPosition, ml::Vector) | |
DECLARE_SIGNAL_OUT (size, int) | |
dg::sot::VectorMultiBound & | computeTask (dg::sot::VectorMultiBound &res, int time) |
ml::Matrix & | computeJacobian (ml::Matrix &res, int time) |
![]() | |
Task (const std::string &n) | |
void | initCommands (void) |
void | addFeature (FeatureAbstract &s) |
void | addFeatureFromName (const std::string &name) |
void | clearFeatureList (void) |
FeatureList_t & | getFeatureList (void) |
void | setControlSelection (const Flags &act) |
void | addControlSelection (const Flags &act) |
void | clearControlSelection (void) |
void | setWithDerivative (const bool &s) |
bool | getWithDerivative (void) |
ml::Vector & | computeError (ml::Vector &error, int time) |
VectorMultiBound & | computeTaskExponentialDecrease (VectorMultiBound &errorRef, int time) |
ml::Matrix & | computeJacobian (ml::Matrix &J, int time) |
ml::Vector & | computeErrorTimeDerivative (ml::Vector &res, int time) |
virtual void | commandLine (const std::string &cmdLine, std::istringstream &cmdArgs, std::ostream &os) |
virtual std::ostream & | writeGraph (std::ostream &os) const |
![]() | |
TaskAbstract (const std::string &n) | |
![]() | |
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 & | 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 |
dynamicgraph::sot::dyninv::TaskInequality::TaskInequality | ( | const std::string & | name | ) |
References dynamicgraph::SignalTimeDependent< T, Time >::addDependency(), computeJacobian(), computeTask(), dynamicgraph::sot::Task::controlGainSIN, dynamicgraph::sot::Task::errorSOUT, dynamicgraph::sot::TaskAbstract::jacobianSOUT, dynamicgraph::Signal< T, Time >::setFunction(), dynamicgraph::Entity::signalRegistration(), and dynamicgraph::sot::TaskAbstract::taskSOUT.
dynamicgraph::sot::dyninv::TaskInequality::TaskInequality | ( | const std::string & | name | ) |
ml::Matrix & dynamicgraph::sot::dyninv::TaskInequality::computeJacobian | ( | ml::Matrix & | res, |
int | time | ||
) |
References dynamicgraph::sot::Task::computeJacobian(), display(), dynamicgraph::sot::Task::errorSOUT, maal::boost::Matrix::nbCols(), maal::boost::Matrix::nbRows(), dynamicgraph::sot::dyninv::normalizedPositionSOUT_function(), maal::boost::Matrix::resize(), maal::boost::Vector::resize(), and maal::boost::Vector::size().
Referenced by computeTask(), and TaskInequality().
ml::Matrix& dynamicgraph::sot::dyninv::TaskInequality::computeJacobian | ( | ml::Matrix & | res, |
int | time | ||
) |
dg::sot::VectorMultiBound & dynamicgraph::sot::dyninv::TaskInequality::computeTask | ( | dg::sot::VectorMultiBound & | res, |
int | time | ||
) |
dg::sot::VectorMultiBound& dynamicgraph::sot::dyninv::TaskInequality::computeTask | ( | dg::sot::VectorMultiBound & | res, |
int | time | ||
) |
dynamicgraph::sot::dyninv::TaskInequality::DECLARE_SIGNAL_IN | ( | referenceInf | , |
ml::Vector | |||
) |
dynamicgraph::sot::dyninv::TaskInequality::DECLARE_SIGNAL_IN | ( | referenceInf | , |
ml::Vector | |||
) |
dynamicgraph::sot::dyninv::TaskInequality::DECLARE_SIGNAL_IN | ( | referenceSup | , |
ml::Vector | |||
) |
dynamicgraph::sot::dyninv::TaskInequality::DECLARE_SIGNAL_IN | ( | referenceSup | , |
ml::Vector | |||
) |
dynamicgraph::sot::dyninv::TaskInequality::DECLARE_SIGNAL_IN | ( | dt | , |
double | |||
) |
dynamicgraph::sot::dyninv::TaskInequality::DECLARE_SIGNAL_IN | ( | dt | , |
double | |||
) |
dynamicgraph::sot::dyninv::TaskInequality::DECLARE_SIGNAL_IN | ( | selec | , |
Flags | |||
) |
dynamicgraph::sot::dyninv::TaskInequality::DECLARE_SIGNAL_IN | ( | selec | , |
Flags | |||
) |
dynamicgraph::sot::dyninv::TaskInequality::DECLARE_SIGNAL_OUT | ( | normalizedPosition | , |
ml::Vector | |||
) |
dynamicgraph::sot::dyninv::TaskInequality::DECLARE_SIGNAL_OUT | ( | normalizedPosition | , |
ml::Vector | |||
) |
dynamicgraph::sot::dyninv::TaskInequality::DECLARE_SIGNAL_OUT | ( | size | , |
int | |||
) |
dynamicgraph::sot::dyninv::TaskInequality::DECLARE_SIGNAL_OUT | ( | size | , |
int | |||
) |
|
virtual |
Reimplemented from dynamicgraph::sot::Task.
|
virtual |
Reimplemented from dynamicgraph::sot::Task.
References dynamicgraph::Entity::name.
Referenced by computeJacobian().