#include <solver-kine.h>
Public Types | |
typedef sot::Stack< TaskAbstract > | stack_t |
typedef sot::Stack< TaskAbstract > | 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 |
![]() | |
typedef std::map< std::string, SignalBase< int > * > | SignalMap |
typedef std::map< const std::string, command::Command *> | CommandMap_t |
![]() | |
typedef Ent | EntityClassName |
typedef Ent | EntityClassName |
typedef Ent | EntityClassName |
![]() | |
typedef std::list< const dg::SignalBase< int > * > | TaskDependancyList_t |
typedef std::list< const dg::SignalBase< int > * > | TaskDependancyList_t |
Public Member Functions | |
SolverKine (const std::string &name) | |
virtual TaskDependancyList_t | getTaskDependancyList (const TaskAbstract &task) |
Return the signal to be added/removed from the dependancy list of the control signal. More... | |
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 (damping, double) | |
DECLARE_SIGNAL_IN (velocity, ml::Vector) | |
DECLARE_SIGNAL_OUT (control, ml::Vector) | |
void | debugOnce (void) |
void | resetAset (void) |
void | getDecomposition (const int &stage) |
virtual void | push (TaskAbstract &task) |
Push the task in the stack. More... | |
void | setSecondOrderKinematics () |
SolverKine (const std::string &name) | |
virtual TaskDependancyList_t | getTaskDependancyList (const TaskAbstract &task) |
Return the signal to be added/removed from the dependancy list of the control signal. More... | |
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 (damping, double) | |
DECLARE_SIGNAL_IN (velocity, ml::Vector) | |
DECLARE_SIGNAL_OUT (control, ml::Vector) | |
void | debugOnce (void) |
void | resetAset (void) |
void | getDecomposition (const int &stage) |
virtual void | push (TaskAbstract &task) |
Push the task in the stack. More... | |
void | setSecondOrderKinematics () |
![]() | |
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 void | commandLine (const std::string &cmdLine, std::istringstream &cmdArgs, std::ostream &os) |
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 |
![]() | |
Stack (void) | |
Stack (void) | |
~Stack (void) | |
~Stack (void) | |
virtual TaskAbstract & | pop (void) |
Pop the task from the stack. This method removes the task with the smallest priority in the task. The other are projected in the null-space of their predecessors. More... | |
virtual TaskAbstract & | pop (void) |
Pop the task from the stack. This method removes the task with the smallest priority in the task. The other are projected in the null-space of their predecessors. More... | |
void | pop0 (void) |
same as pop, but no return. More... | |
void | pop0 (void) |
same as pop, but no return. More... | |
virtual bool | exist (const TaskAbstract &task) |
This method allows to know if a task exists or not. More... | |
virtual bool | exist (const TaskAbstract &task) |
This method allows to know if a task exists or not. More... | |
virtual void | remove (const TaskAbstract &task) |
Remove a task regardless to its position in the stack. It removes also the signals connected to the output signal of this stack. More... | |
virtual void | remove (const TaskAbstract &task) |
Remove a task regardless to its position in the stack. It removes also the signals connected to the output signal of this stack. More... | |
virtual void | up (const TaskAbstract &task) |
This method makes the task to swap with the task having the immediate superior priority. More... | |
virtual void | up (const TaskAbstract &task) |
This method makes the task to swap with the task having the immediate superior priority. More... | |
virtual void | down (const TaskAbstract &task) |
This method makes the task to swap with the task having the immediate inferior priority. More... | |
virtual void | down (const TaskAbstract &task) |
This method makes the task to swap with the task having the immediate inferior priority. More... | |
virtual void | clear (void) |
Remove all the tasks from the stack. More... | |
virtual void | clear (void) |
Remove all the tasks from the stack. More... | |
virtual void | defineNbDof (const int &nbDof) |
virtual void | defineNbDof (const int &nbDof) |
virtual std::ostream & | writeGraph (const std::string &name, std::ostream &os) const |
Write the priority between tasks in the outstream os. More... | |
virtual std::ostream & | writeGraph (const std::string &name, std::ostream &os) const |
Write the priority between tasks in the outstream os. More... | |
void | pushByTaskName (const std::string &taskName) |
void | removeByTaskName (const std::string &taskName) |
void | upByTaskName (const std::string &taskName) |
void | downByTaskName (const std::string &taskName) |
void | pushByTaskName (const std::string &taskName) |
void | removeByTaskName (const std::string &taskName) |
void | upByTaskName (const std::string &taskName) |
void | downByTaskName (const std::string &taskName) |
Public Attributes | |
bool | controlFreeFloating |
bool | secondOrderKinematics_ |
![]() | |
dg::SignalBase< int > * | tatata |
int | titit |
int | totol |
Additional Inherited Members | |
![]() | |
static const unsigned int | NB_JOINTS_DEFAULT |
Number of joints by default. More... | |
![]() | |
typedef std::vector< TaskAbstract *> | Stack_t |
typedef std::vector< TaskAbstract *> | Stack_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 |
![]() | |
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) |
![]() | |
std::string | name |
SignalMap | signalMap |
CommandMap_t | commandMap |
![]() | |
Stack_t | stack |
List of task (controllers) managed by the stack of tasks. More... | |
int | nbDofs |
Number of joints to be used to compute the control law. More... | |
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::SolverKine::SolverKine | ( | const std::string & | name | ) |
References ADD_COMMANDS_FOR_THE_STACK, dynamicgraph::Entity::addCommand(), controlFreeFloating, debugOnce(), docCommandVoid0(), docCommandVoid1(), docDirectGetter(), docDirectSetter(), getDecomposition(), makeCommandVoid0(), makeCommandVoid1(), makeDirectGetter(), makeDirectSetter(), resetAset(), secondOrderKinematics_, setSecondOrderKinematics(), and dynamicgraph::Entity::signalRegistration().
dynamicgraph::sot::dyninv::SolverKine::SolverKine | ( | const std::string & | name | ) |
|
virtual |
Implements dynamicgraph::sot::Stack< TaskAbstract >.
References removeDependancy().
Referenced by getTaskDependancyList().
|
virtual |
Implements dynamicgraph::sot::Stack< TaskAbstract >.
void dynamicgraph::sot::dyninv::SolverKine::debugOnce | ( | void | ) |
References resetAset().
Referenced by SolverKine().
void dynamicgraph::sot::dyninv::SolverKine::debugOnce | ( | void | ) |
dynamicgraph::sot::dyninv::SolverKine::DECLARE_SIGNAL_IN | ( | damping | , |
double | |||
) |
dynamicgraph::sot::dyninv::SolverKine::DECLARE_SIGNAL_IN | ( | damping | , |
double | |||
) |
dynamicgraph::sot::dyninv::SolverKine::DECLARE_SIGNAL_IN | ( | velocity | , |
ml::Vector | |||
) |
dynamicgraph::sot::dyninv::SolverKine::DECLARE_SIGNAL_IN | ( | velocity | , |
ml::Vector | |||
) |
dynamicgraph::sot::dyninv::SolverKine::DECLARE_SIGNAL_OUT | ( | control | , |
ml::Vector | |||
) |
dynamicgraph::sot::dyninv::SolverKine::DECLARE_SIGNAL_OUT | ( | control | , |
ml::Vector | |||
) |
|
virtual |
Reimplemented from dynamicgraph::Entity.
|
virtual |
Reimplemented from dynamicgraph::Entity.
References dynamicgraph::sot::Stack< TaskAbstract >::display(), dynamicgraph::Entity::getName(), and dynamicgraph::sot::Stack< TaskAbstract >::nbDofs.
Referenced by getDecomposition().
void dynamicgraph::sot::dyninv::SolverKine::getDecomposition | ( | const int & | stage | ) |
References display().
Referenced by resetAset(), and SolverKine().
void dynamicgraph::sot::dyninv::SolverKine::getDecomposition | ( | const int & | stage | ) |
|
virtual |
Return the signal to be added/removed from the dependancy list of the control signal.
Implements dynamicgraph::sot::Stack< TaskAbstract >.
References addDependancy(), dynamicgraph::sot::TaskAbstract::jacobianSOUT, and dynamicgraph::sot::TaskAbstract::taskSOUT.
Referenced by setSecondOrderKinematics().
|
virtual |
Return the signal to be added/removed from the dependancy list of the control signal.
Implements dynamicgraph::sot::Stack< TaskAbstract >.
|
virtual |
Push the task in the stack.
Call parent implementation anc check that task is of type dynamic if necessary
Reimplemented from dynamicgraph::sot::Stack< TaskAbstract >.
References dynamicgraph::Entity::getClassName(), dynamicgraph::Entity::getName(), dynamicgraph::sot::Stack< TaskGeneric >::push(), and secondOrderKinematics_.
|
virtual |
Push the task in the stack.
Call parent implementation anc check that task is of type dynamic if necessary
Reimplemented from dynamicgraph::sot::Stack< TaskAbstract >.
|
virtual |
Implements dynamicgraph::sot::Stack< TaskAbstract >.
|
virtual |
Implements dynamicgraph::sot::Stack< TaskAbstract >.
References resetReady().
Referenced by addDependancy().
void dynamicgraph::sot::dyninv::SolverKine::resetAset | ( | void | ) |
void dynamicgraph::sot::dyninv::SolverKine::resetAset | ( | void | ) |
References getDecomposition().
Referenced by debugOnce(), and SolverKine().
|
virtual |
Implements dynamicgraph::sot::Stack< TaskAbstract >.
References dynamicgraph::Signal< T, Time >::accessCopy(), dynamicgraph::Entity::getName(), dynamicgraph::sot::Stack< TaskAbstract >::nbDofs, sotDEBUGIN, dynamicgraph::sot::Stack< TaskAbstract >::stack, and dynamicgraph::sot::TaskAbstract::taskSOUT.
Referenced by removeDependancy().
|
virtual |
Implements dynamicgraph::sot::Stack< TaskAbstract >.
void dynamicgraph::sot::dyninv::SolverKine::setSecondOrderKinematics | ( | ) |
void dynamicgraph::sot::dyninv::SolverKine::setSecondOrderKinematics | ( | ) |
References getTaskDependancyList(), secondOrderKinematics_, and dynamicgraph::sot::Stack< TaskAbstract >::stack.
Referenced by SolverKine().
bool dynamicgraph::sot::dyninv::SolverKine::controlFreeFloating |
Referenced by SolverKine().
bool dynamicgraph::sot::dyninv::SolverKine::secondOrderKinematics_ |
Referenced by push(), setSecondOrderKinematics(), and SolverKine().