dynamicgraph::sot::dyninv::SolverOpSpace Class Reference

#include <solver-op-space.h>

Inheritance diagram for dynamicgraph::sot::dyninv::SolverOpSpace:
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Collaboration diagram for dynamicgraph::sot::dyninv::SolverOpSpace:
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Public Types

typedef sot::Stack< TaskDynPDstack_t
 
typedef sot::Stack< TaskDynPDstack_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
 
- Public Types inherited from dynamicgraph::Entity
typedef std::map< std::string, SignalBase< int > *> SignalMap
 
typedef std::map< const std::string, command::Command *> CommandMap_t
 
- Public Types inherited from dynamicgraph::EntityHelper< SolverOpSpace >
typedef Ent EntityClassName
 
typedef Ent EntityClassName
 
typedef Ent EntityClassName
 
- Public Types inherited from dynamicgraph::sot::Stack< TaskDynPD >
typedef std::list< const dg::SignalBase< int > * > TaskDependancyList_t
 
typedef std::list< const dg::SignalBase< int > * > TaskDependancyList_t
 

Public Member Functions

 SolverOpSpace (const std::string &name)
 
virtual TaskDependancyList_t getTaskDependancyList (const TaskDynPD &task)
 
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 (matrixInertia, dg::Matrix)
 
 DECLARE_SIGNAL_IN (velocity, dg::Vector)
 
 DECLARE_SIGNAL_IN (dyndrift, dg::Vector)
 
 DECLARE_SIGNAL_IN (damping, double)
 
 DECLARE_SIGNAL_IN (breakFactor, double)
 
 DECLARE_SIGNAL_IN (posture, dg::Vector)
 
 DECLARE_SIGNAL_IN (position, dg::Vector)
 
 DECLARE_SIGNAL_OUT (control, dg::Vector)
 
 DECLARE_SIGNAL (zmp, OUT, dg::Vector)
 
 DECLARE_SIGNAL (acceleration, OUT, dg::Vector)
 
void addContact (const std::string &name, dynamicgraph::Signal< dg::Matrix, int > *jacobianSignal, dynamicgraph::Signal< dg::Matrix, int > *JdotSignal, dynamicgraph::Signal< dg::Vector, int > *corrSignal, dynamicgraph::Signal< dg::Matrix, int > *contactPointsSignal)
 
void addContactFromTask (const std::string &taskName, const std::string &contactName)
 
void removeContact (const std::string &name)
 
void dispContacts (std::ostream &os) const
 
void debugOnce (void)
 
 SolverOpSpace (const std::string &name)
 
virtual TaskDependancyList_t getTaskDependancyList (const TaskDynPD &task)
 
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 (matrixInertia, dg::Matrix)
 
 DECLARE_SIGNAL_IN (velocity, dg::Vector)
 
 DECLARE_SIGNAL_IN (dyndrift, dg::Vector)
 
 DECLARE_SIGNAL_IN (damping, double)
 
 DECLARE_SIGNAL_IN (breakFactor, double)
 
 DECLARE_SIGNAL_IN (posture, dg::Vector)
 
 DECLARE_SIGNAL_IN (position, dg::Vector)
 
 DECLARE_SIGNAL_OUT (control, dg::Vector)
 
 DECLARE_SIGNAL (zmp, OUT, dg::Vector)
 
 DECLARE_SIGNAL (acceleration, OUT, dg::Vector)
 
void addContact (const std::string &name, dynamicgraph::Signal< dg::Matrix, int > *jacobianSignal, dynamicgraph::Signal< dg::Matrix, int > *JdotSignal, dynamicgraph::Signal< dg::Vector, int > *corrSignal, dynamicgraph::Signal< dg::Matrix, int > *contactPointsSignal)
 
void addContactFromTask (const std::string &taskName, const std::string &contactName)
 
void removeContact (const std::string &name)
 
void dispContacts (std::ostream &os) const
 
void debugOnce (void)
 
- Public Member Functions inherited from dynamicgraph::Entity
 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 & 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::CommandgetNewStyleCommand (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 ()
 
- Public Member Functions inherited from dynamicgraph::sot::Stack< TaskDynPD >
 Stack (void)
 
 Stack (void)
 
 ~Stack (void)
 
 ~Stack (void)
 
virtual TaskDependancyList_t getTaskDependancyList (const TaskDynPD &task)=0
 Return the signal to be added/removed from the dependancy list of the control signal. More...
 
virtual TaskDependancyList_t getTaskDependancyList (const TaskDynPD &task)=0
 Return the signal to be added/removed from the dependancy list of the control signal. More...
 
virtual void push (TaskDynPD &task)
 Push the task in the stack. It has a lowest priority than the previous ones. If this is the first task, then it has the highest priority. More...
 
virtual void push (TaskDynPD &task)
 Push the task in the stack. It has a lowest priority than the previous ones. If this is the first task, then it has the highest priority. More...
 
virtual TaskDynPD & 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 TaskDynPD & 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 TaskDynPD &task)
 This method allows to know if a task exists or not. More...
 
virtual bool exist (const TaskDynPD &task)
 This method allows to know if a task exists or not. More...
 
virtual void remove (const TaskDynPD &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 TaskDynPD &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 TaskDynPD &task)
 This method makes the task to swap with the task having the immediate superior priority. More...
 
virtual void up (const TaskDynPD &task)
 This method makes the task to swap with the task having the immediate superior priority. More...
 
virtual void down (const TaskDynPD &task)
 This method makes the task to swap with the task having the immediate inferior priority. More...
 
virtual void down (const TaskDynPD &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)
 

Additional Inherited Members

- Public Attributes inherited from dynamicgraph::sot::Stack< TaskDynPD >
dg::SignalBase< int > * tatata
 
int titit
 
int totol
 
- Static Public Attributes inherited from dynamicgraph::sot::Stack< TaskDynPD >
static const unsigned int NB_JOINTS_DEFAULT
 Number of joints by default. More...
 
- Protected Types inherited from dynamicgraph::sot::Stack< TaskDynPD >
typedef std::vector< TaskDynPD *> Stack_t
 
typedef std::vector< TaskDynPD *> 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
 
- Protected Member Functions inherited from dynamicgraph::Entity
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 inherited from dynamicgraph::Entity
std::string name
 
SignalMap signalMap
 
CommandMap_t commandMap
 
Logger logger_
 
- Protected Attributes inherited from dynamicgraph::sot::Stack< TaskDynPD >
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...
 

Member Typedef Documentation

◆ stack_t [1/2]

◆ stack_t [2/2]

◆ StackConstIterator_t [1/4]

typedef Stack_t::const_iterator dynamicgraph::sot::Stack< TaskGeneric >::StackConstIterator_t

◆ StackConstIterator_t [2/4]

typedef Stack_t::const_iterator dynamicgraph::sot::Stack< TaskGeneric >::StackConstIterator_t

◆ StackConstIterator_t [3/4]

typedef Stack_t::const_iterator dynamicgraph::sot::Stack< TaskGeneric >::StackConstIterator_t

◆ StackConstIterator_t [4/4]

typedef Stack_t::const_iterator dynamicgraph::sot::Stack< TaskGeneric >::StackConstIterator_t

◆ StackIterator_t [1/4]

typedef Stack_t::iterator dynamicgraph::sot::Stack< TaskGeneric >::StackIterator_t

◆ StackIterator_t [2/4]

typedef Stack_t::iterator dynamicgraph::sot::Stack< TaskGeneric >::StackIterator_t

◆ StackIterator_t [3/4]

typedef Stack_t::iterator dynamicgraph::sot::Stack< TaskGeneric >::StackIterator_t

◆ StackIterator_t [4/4]

typedef Stack_t::iterator dynamicgraph::sot::Stack< TaskGeneric >::StackIterator_t

◆ TaskDependancyList_t [1/4]

typedef std::list< const dg::SignalBase<int>* > dynamicgraph::sot::Stack< TaskGeneric >::TaskDependancyList_t

◆ TaskDependancyList_t [2/4]

typedef std::list< const dg::SignalBase<int>* > dynamicgraph::sot::Stack< TaskGeneric >::TaskDependancyList_t

◆ TaskDependancyList_t [3/4]

typedef std::list< const dg::SignalBase<int>* > dynamicgraph::sot::Stack< TaskGeneric >::TaskDependancyList_t

◆ TaskDependancyList_t [4/4]

typedef std::list< const dg::SignalBase<int>* > dynamicgraph::sot::Stack< TaskGeneric >::TaskDependancyList_t

Constructor & Destructor Documentation

◆ SolverOpSpace() [1/2]

◆ SolverOpSpace() [2/2]

dynamicgraph::sot::dyninv::SolverOpSpace::SolverOpSpace ( const std::string &  name)

Member Function Documentation

◆ addContact() [1/2]

void dynamicgraph::sot::dyninv::SolverOpSpace::addContact ( const std::string &  name,
dynamicgraph::Signal< dg::Matrix, int > *  jacobianSignal,
dynamicgraph::Signal< dg::Matrix, int > *  JdotSignal,
dynamicgraph::Signal< dg::Vector, int > *  corrSignal,
dynamicgraph::Signal< dg::Matrix, int > *  contactPointsSignal 
)

◆ addContact() [2/2]

void dynamicgraph::sot::dyninv::SolverOpSpace::addContact ( const std::string &  name,
dynamicgraph::Signal< dg::Matrix, int > *  jacobianSignal,
dynamicgraph::Signal< dg::Matrix, int > *  JdotSignal,
dynamicgraph::Signal< dg::Vector, int > *  corrSignal,
dynamicgraph::Signal< dg::Matrix, int > *  contactPointsSignal 
)

◆ addContactFromTask() [1/2]

◆ addContactFromTask() [2/2]

void dynamicgraph::sot::dyninv::SolverOpSpace::addContactFromTask ( const std::string &  taskName,
const std::string &  contactName 
)

◆ addDependancy() [1/2]

void dynamicgraph::sot::dyninv::SolverOpSpace::addDependancy ( const TaskDependancyList_t depList)
virtual

◆ addDependancy() [2/2]

virtual void dynamicgraph::sot::dyninv::SolverOpSpace::addDependancy ( const TaskDependancyList_t depList)
virtual

◆ debugOnce() [1/2]

void dynamicgraph::sot::dyninv::SolverOpSpace::debugOnce ( void  )

◆ debugOnce() [2/2]

void dynamicgraph::sot::dyninv::SolverOpSpace::debugOnce ( void  )

◆ DECLARE_SIGNAL() [1/4]

dynamicgraph::sot::dyninv::SolverOpSpace::DECLARE_SIGNAL ( zmp  ,
OUT  ,
dg::Vector   
)

◆ DECLARE_SIGNAL() [2/4]

dynamicgraph::sot::dyninv::SolverOpSpace::DECLARE_SIGNAL ( zmp  ,
OUT  ,
dg::Vector   
)

◆ DECLARE_SIGNAL() [3/4]

dynamicgraph::sot::dyninv::SolverOpSpace::DECLARE_SIGNAL ( acceleration  ,
OUT  ,
dg::Vector   
)

◆ DECLARE_SIGNAL() [4/4]

dynamicgraph::sot::dyninv::SolverOpSpace::DECLARE_SIGNAL ( acceleration  ,
OUT  ,
dg::Vector   
)

◆ DECLARE_SIGNAL_IN() [1/14]

dynamicgraph::sot::dyninv::SolverOpSpace::DECLARE_SIGNAL_IN ( matrixInertia  ,
dg::Matrix   
)

◆ DECLARE_SIGNAL_IN() [2/14]

dynamicgraph::sot::dyninv::SolverOpSpace::DECLARE_SIGNAL_IN ( matrixInertia  ,
dg::Matrix   
)

◆ DECLARE_SIGNAL_IN() [3/14]

dynamicgraph::sot::dyninv::SolverOpSpace::DECLARE_SIGNAL_IN ( velocity  ,
dg::Vector   
)

◆ DECLARE_SIGNAL_IN() [4/14]

dynamicgraph::sot::dyninv::SolverOpSpace::DECLARE_SIGNAL_IN ( velocity  ,
dg::Vector   
)

◆ DECLARE_SIGNAL_IN() [5/14]

dynamicgraph::sot::dyninv::SolverOpSpace::DECLARE_SIGNAL_IN ( dyndrift  ,
dg::Vector   
)

◆ DECLARE_SIGNAL_IN() [6/14]

dynamicgraph::sot::dyninv::SolverOpSpace::DECLARE_SIGNAL_IN ( dyndrift  ,
dg::Vector   
)

◆ DECLARE_SIGNAL_IN() [7/14]

dynamicgraph::sot::dyninv::SolverOpSpace::DECLARE_SIGNAL_IN ( damping  ,
double   
)

◆ DECLARE_SIGNAL_IN() [8/14]

dynamicgraph::sot::dyninv::SolverOpSpace::DECLARE_SIGNAL_IN ( damping  ,
double   
)

◆ DECLARE_SIGNAL_IN() [9/14]

dynamicgraph::sot::dyninv::SolverOpSpace::DECLARE_SIGNAL_IN ( breakFactor  ,
double   
)

◆ DECLARE_SIGNAL_IN() [10/14]

dynamicgraph::sot::dyninv::SolverOpSpace::DECLARE_SIGNAL_IN ( breakFactor  ,
double   
)

◆ DECLARE_SIGNAL_IN() [11/14]

dynamicgraph::sot::dyninv::SolverOpSpace::DECLARE_SIGNAL_IN ( posture  ,
dg::Vector   
)

◆ DECLARE_SIGNAL_IN() [12/14]

dynamicgraph::sot::dyninv::SolverOpSpace::DECLARE_SIGNAL_IN ( posture  ,
dg::Vector   
)

◆ DECLARE_SIGNAL_IN() [13/14]

dynamicgraph::sot::dyninv::SolverOpSpace::DECLARE_SIGNAL_IN ( position  ,
dg::Vector   
)

◆ DECLARE_SIGNAL_IN() [14/14]

dynamicgraph::sot::dyninv::SolverOpSpace::DECLARE_SIGNAL_IN ( position  ,
dg::Vector   
)

◆ DECLARE_SIGNAL_OUT() [1/2]

dynamicgraph::sot::dyninv::SolverOpSpace::DECLARE_SIGNAL_OUT ( control  ,
dg::Vector   
)

◆ DECLARE_SIGNAL_OUT() [2/2]

dynamicgraph::sot::dyninv::SolverOpSpace::DECLARE_SIGNAL_OUT ( control  ,
dg::Vector   
)

◆ dispContacts() [1/2]

void dynamicgraph::sot::dyninv::SolverOpSpace::dispContacts ( std::ostream &  os) const

◆ dispContacts() [2/2]

void dynamicgraph::sot::dyninv::SolverOpSpace::dispContacts ( std::ostream &  os) const

◆ display() [1/2]

void dynamicgraph::sot::dyninv::SolverOpSpace::display ( std::ostream &  os) const
virtual

◆ display() [2/2]

virtual void dynamicgraph::sot::dyninv::SolverOpSpace::display ( std::ostream &  os) const
virtual

Reimplemented from dynamicgraph::Entity.

◆ getTaskDependancyList() [1/2]

virtual TaskDependancyList_t dynamicgraph::sot::dyninv::SolverOpSpace::getTaskDependancyList ( const TaskDynPD task)
virtual

◆ getTaskDependancyList() [2/2]

SolverOpSpace::TaskDependancyList_t dynamicgraph::sot::dyninv::SolverOpSpace::getTaskDependancyList ( const TaskDynPD task)
virtual

◆ removeContact() [1/2]

void dynamicgraph::sot::dyninv::SolverOpSpace::removeContact ( const std::string &  name)

◆ removeContact() [2/2]

void dynamicgraph::sot::dyninv::SolverOpSpace::removeContact ( const std::string &  name)

◆ removeDependancy() [1/2]

void dynamicgraph::sot::dyninv::SolverOpSpace::removeDependancy ( const TaskDependancyList_t depList)
virtual

Implements dynamicgraph::sot::Stack< TaskDynPD >.

References resetReady().

Referenced by addDependancy().

◆ removeDependancy() [2/2]

virtual void dynamicgraph::sot::dyninv::SolverOpSpace::removeDependancy ( const TaskDependancyList_t depList)
virtual

◆ resetReady() [1/2]

virtual void dynamicgraph::sot::dyninv::SolverOpSpace::resetReady ( void  )
virtual

◆ resetReady() [2/2]

void dynamicgraph::sot::dyninv::SolverOpSpace::resetReady ( void  )
virtual