#include <task-dyn-pd.h>
Public Member Functions | |
TaskDynPD (const std::string &name) | |
virtual void | display (std::ostream &os) const |
DECLARE_SIGNAL_IN (Kv, double) | |
DECLARE_SIGNAL_IN (qdot, dg::Vector) | |
DECLARE_SIGNAL_IN (dt, double) | |
DECLARE_SIGNAL_OUT (errorDot, dg::Vector) | |
DECLARE_SIGNAL_OUT (KvAuto, double) | |
DECLARE_SIGNAL_OUT (Jdot, dg::Matrix) | |
DECLARE_SIGNAL_OUT (taskVector, dg::Vector) | |
void | resetJacobianDerivative (void) |
TaskDynPD (const std::string &name) | |
virtual void | display (std::ostream &os) const |
DECLARE_SIGNAL_IN (Kv, double) | |
DECLARE_SIGNAL_IN (qdot, dg::Vector) | |
DECLARE_SIGNAL_IN (dt, double) | |
DECLARE_SIGNAL_OUT (errorDot, dg::Vector) | |
DECLARE_SIGNAL_OUT (KvAuto, double) | |
DECLARE_SIGNAL_OUT (Jdot, dg::Matrix) | |
DECLARE_SIGNAL_OUT (taskVector, dg::Vector) | |
void | resetJacobianDerivative (void) |
![]() | |
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) |
dg::Vector & | computeError (dg::Vector &error, int time) |
VectorMultiBound & | computeTaskExponentialDecrease (VectorMultiBound &errorRef, int time) |
dg::Matrix & | computeJacobian (dg::Matrix &J, int time) |
dg::Vector & | computeErrorTimeDerivative (dg::Vector &res, int time) |
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 |
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 |
void | sendMsg (const std::string &msg, MsgType t=MSG_TYPE_INFO, const char *file="", int line=0) |
void | setLoggerVerbosityLevel (LoggerVerbosity lv) |
LoggerVerbosity | getLoggerVerbosityLevel () |
bool | setTimeSample (double t) |
double | getTimeSample () |
bool | setStreamPrintPeriod (double t) |
double | getStreamPrintPeriod () |
Protected Member Functions | |
dynamicgraph::sot::VectorMultiBound & | taskSOUT_function (dynamicgraph::sot::VectorMultiBound &task, int iter) |
dynamicgraph::sot::VectorMultiBound & | taskSOUT_function (dynamicgraph::sot::VectorMultiBound &task, int iter) |
![]() | |
DYNAMIC_GRAPH_ENTITY_DECL () | |
![]() | |
void | taskRegistration (void) |
![]() | |
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) |
Protected Attributes | |
dg::Matrix | previousJ |
bool | previousJset |
![]() | |
FeatureList_t | featureList |
bool | withDerivative |
![]() | |
std::string | name |
SignalMap | signalMap |
CommandMap_t | commandMap |
Logger | logger_ |
Additional Inherited Members | |
![]() | |
typedef std::list< FeatureAbstract * > | FeatureList_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 |
![]() | |
dg::SignalPtr< double, int > | controlGainSIN |
dg::SignalPtr< double, int > | dampingGainSINOUT |
dg::SignalPtr< Flags, int > | controlSelectionSIN |
dg::SignalTimeDependent< dg::Vector, int > | errorSOUT |
dg::SignalTimeDependent< dg::Vector, int > | errorTimeDerivativeSOUT |
![]() | |
MemoryTaskAbstract * | memoryInternal |
dg::SignalTimeDependent< VectorMultiBound, int > | taskSOUT |
dg::SignalTimeDependent< dg::Matrix, int > | jacobianSOUT |
dynamicgraph::sot::dyninv::TaskDynPD::TaskDynPD | ( | const std::string & | name | ) |
References dynamicgraph::Entity::addCommand(), dynamicgraph::SignalTimeDependent< T, Time >::addDependency(), dynamicgraph::sot::Task::controlGainSIN, docCommandVoid0(), dynamicgraph::sot::Task::errorSOUT, dynamicgraph::sot::Task::errorTimeDerivativeSOUT, dynamicgraph::sot::TaskAbstract::jacobianSOUT, makeCommandVoid0(), previousJ, previousJset, resetJacobianDerivative(), dynamicgraph::Signal< T, Time >::setFunction(), dynamicgraph::Entity::signalRegistration(), sotDEBUGIN, sotDEBUGOUT, dynamicgraph::sot::TaskAbstract::taskSOUT, and taskSOUT_function().
dynamicgraph::sot::dyninv::TaskDynPD::TaskDynPD | ( | const std::string & | name | ) |
dynamicgraph::sot::dyninv::TaskDynPD::DECLARE_SIGNAL_IN | ( | Kv | , |
double | |||
) |
dynamicgraph::sot::dyninv::TaskDynPD::DECLARE_SIGNAL_IN | ( | Kv | , |
double | |||
) |
dynamicgraph::sot::dyninv::TaskDynPD::DECLARE_SIGNAL_IN | ( | qdot | , |
dg::Vector | |||
) |
dynamicgraph::sot::dyninv::TaskDynPD::DECLARE_SIGNAL_IN | ( | qdot | , |
dg::Vector | |||
) |
dynamicgraph::sot::dyninv::TaskDynPD::DECLARE_SIGNAL_IN | ( | dt | , |
double | |||
) |
dynamicgraph::sot::dyninv::TaskDynPD::DECLARE_SIGNAL_IN | ( | dt | , |
double | |||
) |
dynamicgraph::sot::dyninv::TaskDynPD::DECLARE_SIGNAL_OUT | ( | errorDot | , |
dg::Vector | |||
) |
dynamicgraph::sot::dyninv::TaskDynPD::DECLARE_SIGNAL_OUT | ( | errorDot | , |
dg::Vector | |||
) |
dynamicgraph::sot::dyninv::TaskDynPD::DECLARE_SIGNAL_OUT | ( | KvAuto | , |
double | |||
) |
dynamicgraph::sot::dyninv::TaskDynPD::DECLARE_SIGNAL_OUT | ( | KvAuto | , |
double | |||
) |
dynamicgraph::sot::dyninv::TaskDynPD::DECLARE_SIGNAL_OUT | ( | Jdot | , |
dg::Matrix | |||
) |
dynamicgraph::sot::dyninv::TaskDynPD::DECLARE_SIGNAL_OUT | ( | Jdot | , |
dg::Matrix | |||
) |
dynamicgraph::sot::dyninv::TaskDynPD::DECLARE_SIGNAL_OUT | ( | taskVector | , |
dg::Vector | |||
) |
dynamicgraph::sot::dyninv::TaskDynPD::DECLARE_SIGNAL_OUT | ( | taskVector | , |
dg::Vector | |||
) |
|
virtual |
Reimplemented from dynamicgraph::sot::Task.
Reimplemented in dynamicgraph::sot::dyninv::TaskDynPassingPoint, and dynamicgraph::sot::dyninv::TaskDynPassingPoint.
|
virtual |
Reimplemented from dynamicgraph::sot::Task.
Reimplemented in dynamicgraph::sot::dyninv::TaskDynPassingPoint, and dynamicgraph::sot::dyninv::TaskDynPassingPoint.
References dynamicgraph::sot::Task::featureList, and dynamicgraph::Entity::name.
Referenced by resetJacobianDerivative().
void dynamicgraph::sot::dyninv::TaskDynPD::resetJacobianDerivative | ( | void | ) |
void dynamicgraph::sot::dyninv::TaskDynPD::resetJacobianDerivative | ( | void | ) |
References display(), previousJset, and dynamicgraph::sot::TaskAbstract::taskSOUT.
Referenced by TaskDynPD().
|
protected |
Referenced by TaskDynPD().
|
protected |
|
protected |
Referenced by TaskDynPD().
|
protected |
Referenced by resetJacobianDerivative(), and TaskDynPD().