10 #ifndef __SOT_TASK_H__
11 #define __SOT_TASK_H__
18 #include <dynamic-graph/linear-algebra.h>
36 #if defined task_EXPORTS
37 #define SOTTASK_EXPORT __declspec(dllexport)
39 #define SOTTASK_EXPORT __declspec(dllimport)
42 #define SOTTASK_EXPORT
83 DYNAMIC_GRAPH_ENTITY_DECL();
86 Task(
const std::string &n);
87 void initCommands(
void);
90 void addFeatureFromName(
const std::string &name);
91 void clearFeatureList(
void);
94 void setControlSelection(
const Flags &act);
95 void addControlSelection(
const Flags &act);
96 void clearControlSelection(
void);
98 void setWithDerivative(
const bool &s);
99 bool getWithDerivative(
void);
102 dg::Vector &computeError(dg::Vector &error,
int time);
105 dg::Matrix &computeJacobian(dg::Matrix &J,
int time);
106 dg::Vector &computeErrorTimeDerivative(dg::Vector &res,
int time);
117 void display(std::ostream &os)
const;
120 virtual std::ostream &writeGraph(std::ostream &os)
const;