dynamicgraph::sot::dyninv::TaskDynJointLimits Class Reference

#include <task-dyn-joint-limits.h>

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

typedef TaskDynJointLimits EntityClassName
 
typedef TaskDynJointLimits EntityClassName
 
- Public Types inherited from dynamicgraph::sot::Task
typedef std::list< FeatureAbstract * > FeatureList_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< TaskDynPD >
typedef Ent EntityClassName
 
typedef Ent EntityClassName
 
typedef Ent EntityClassName
 
- Public Types inherited from dynamicgraph::EntityHelper< TaskDynJointLimits >
typedef Ent EntityClassName
 
typedef Ent EntityClassName
 
typedef Ent EntityClassName
 

Public Member Functions

 TaskDynJointLimits (const std::string &name)
 
 DECLARE_SIGNAL_IN (position, dg::Vector)
 
 DECLARE_SIGNAL_IN (velocity, dg::Vector)
 
 DECLARE_SIGNAL_IN (referenceInf, dg::Vector)
 
 DECLARE_SIGNAL_IN (referenceSup, dg::Vector)
 
 DECLARE_SIGNAL_OUT (normalizedPosition, dg::Vector)
 
dg::sot::VectorMultiBoundcomputeTaskDynJointLimits (dg::sot::VectorMultiBound &res, int time)
 
dg::MatrixcomputeTjlJacobian (dg::Matrix &J, int time)
 
dg::MatrixcomputeTjlJdot (dg::Matrix &Jdot, int time)
 
 TaskDynJointLimits (const std::string &name)
 
 DECLARE_SIGNAL_IN (position, dg::Vector)
 
 DECLARE_SIGNAL_IN (velocity, dg::Vector)
 
 DECLARE_SIGNAL_IN (referenceInf, dg::Vector)
 
 DECLARE_SIGNAL_IN (referenceSup, dg::Vector)
 
 DECLARE_SIGNAL_OUT (normalizedPosition, dg::Vector)
 
dg::sot::VectorMultiBoundcomputeTaskDynJointLimits (dg::sot::VectorMultiBound &res, int time)
 
dg::MatrixcomputeTjlJacobian (dg::Matrix &J, int time)
 
dg::MatrixcomputeTjlJdot (dg::Matrix &Jdot, int time)
 
- Public Member Functions inherited from dynamicgraph::sot::dyninv::TaskDynPD
 TaskDynPD (const std::string &name)
 
 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)
 
 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)
 
- Public Member Functions inherited from dynamicgraph::sot::Task
 Task (const std::string &n)
 
void initCommands (void)
 
void addFeature (FeatureAbstract &s)
 
void addFeatureFromName (const std::string &name)
 
void clearFeatureList (void)
 
FeatureList_tgetFeatureList (void)
 
void setControlSelection (const Flags &act)
 
void addControlSelection (const Flags &act)
 
void clearControlSelection (void)
 
void setWithDerivative (const bool &s)
 
bool getWithDerivative (void)
 
dg::VectorcomputeError (dg::Vector &error, int time)
 
VectorMultiBoundcomputeTaskExponentialDecrease (VectorMultiBound &errorRef, int time)
 
dg::MatrixcomputeJacobian (dg::Matrix &J, int time)
 
dg::VectorcomputeErrorTimeDerivative (dg::Vector &res, int time)
 
virtual std::ostream & writeGraph (std::ostream &os) const
 
- Public Member Functions inherited from dynamicgraph::sot::TaskAbstract
 TaskAbstract (const std::string &n)
 
- 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 & 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 ()
 

Protected Attributes

dg::Matrix previousJ
 
bool previousJset
 
- Protected Attributes inherited from dynamicgraph::sot::dyninv::TaskDynPD
dg::Matrix previousJ
 
bool previousJset
 
- Protected Attributes inherited from dynamicgraph::sot::Task
FeatureList_t featureList
 
bool withDerivative
 
- Protected Attributes inherited from dynamicgraph::Entity
std::string name
 
SignalMap signalMap
 
CommandMap_t commandMap
 
Logger logger_
 

Additional Inherited Members

- Public Attributes inherited from dynamicgraph::sot::Task
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
 
- Public Attributes inherited from dynamicgraph::sot::TaskAbstract
MemoryTaskAbstract * memoryInternal
 
dg::SignalTimeDependent< VectorMultiBound, int > taskSOUT
 
dg::SignalTimeDependent< dg::Matrix, int > jacobianSOUT
 
- Protected Member Functions inherited from dynamicgraph::sot::dyninv::TaskDynPD
dynamicgraph::sot::VectorMultiBoundtaskSOUT_function (dynamicgraph::sot::VectorMultiBound &task, int iter)
 
dynamicgraph::sot::VectorMultiBoundtaskSOUT_function (dynamicgraph::sot::VectorMultiBound &task, int iter)
 
- Protected Member Functions inherited from dynamicgraph::sot::Task
 DYNAMIC_GRAPH_ENTITY_DECL ()
 
- Protected Member Functions inherited from dynamicgraph::sot::TaskAbstract
void taskRegistration (void)
 
- 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)
 

Member Typedef Documentation

◆ EntityClassName [1/2]

◆ EntityClassName [2/2]

Constructor & Destructor Documentation

◆ TaskDynJointLimits() [1/2]

◆ TaskDynJointLimits() [2/2]

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

Member Function Documentation

◆ computeTaskDynJointLimits() [1/2]

dg::sot::VectorMultiBound & dynamicgraph::sot::dyninv::TaskDynJointLimits::computeTaskDynJointLimits ( dg::sot::VectorMultiBound res,
int  time 
)

◆ computeTaskDynJointLimits() [2/2]

dg::sot::VectorMultiBound& dynamicgraph::sot::dyninv::TaskDynJointLimits::computeTaskDynJointLimits ( dg::sot::VectorMultiBound res,
int  time 
)

◆ computeTjlJacobian() [1/2]

dg::Matrix & dynamicgraph::sot::dyninv::TaskDynJointLimits::computeTjlJacobian ( dg::Matrix J,
int  time 
)

◆ computeTjlJacobian() [2/2]

dg::Matrix& dynamicgraph::sot::dyninv::TaskDynJointLimits::computeTjlJacobian ( dg::Matrix J,
int  time 
)

◆ computeTjlJdot() [1/2]

dg::Matrix & dynamicgraph::sot::dyninv::TaskDynJointLimits::computeTjlJdot ( dg::Matrix Jdot,
int  time 
)

◆ computeTjlJdot() [2/2]

dg::Matrix& dynamicgraph::sot::dyninv::TaskDynJointLimits::computeTjlJdot ( dg::Matrix Jdot,
int  time 
)

◆ DECLARE_SIGNAL_IN() [1/8]

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

◆ DECLARE_SIGNAL_IN() [2/8]

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

◆ DECLARE_SIGNAL_IN() [3/8]

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

◆ DECLARE_SIGNAL_IN() [4/8]

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

◆ DECLARE_SIGNAL_IN() [5/8]

dynamicgraph::sot::dyninv::TaskDynJointLimits::DECLARE_SIGNAL_IN ( referenceInf  ,
dg::Vector   
)

◆ DECLARE_SIGNAL_IN() [6/8]

dynamicgraph::sot::dyninv::TaskDynJointLimits::DECLARE_SIGNAL_IN ( referenceInf  ,
dg::Vector   
)

◆ DECLARE_SIGNAL_IN() [7/8]

dynamicgraph::sot::dyninv::TaskDynJointLimits::DECLARE_SIGNAL_IN ( referenceSup  ,
dg::Vector   
)

◆ DECLARE_SIGNAL_IN() [8/8]

dynamicgraph::sot::dyninv::TaskDynJointLimits::DECLARE_SIGNAL_IN ( referenceSup  ,
dg::Vector   
)

◆ DECLARE_SIGNAL_OUT() [1/2]

dynamicgraph::sot::dyninv::TaskDynJointLimits::DECLARE_SIGNAL_OUT ( normalizedPosition  ,
dg::Vector   
)

◆ DECLARE_SIGNAL_OUT() [2/2]

dynamicgraph::sot::dyninv::TaskDynJointLimits::DECLARE_SIGNAL_OUT ( normalizedPosition  ,
dg::Vector   
)

Member Data Documentation

◆ previousJ

dg::Matrix dynamicgraph::sot::dyninv::TaskDynJointLimits::previousJ
protected

Referenced by computeTjlJdot().

◆ previousJset

bool dynamicgraph::sot::dyninv::TaskDynJointLimits::previousJset
protected

Referenced by computeTjlJdot().