dynamicgraph::sot::TaskAbstract Class Reference

Hierarchical element of the stack of tasks. More...

#include <sot/core/task-abstract.hh>

Inheritance diagram for dynamicgraph::sot::TaskAbstract:

Classes
class	MemoryTaskAbstract

Public Member Functions
	TaskAbstract (const std::string &n)

Public Attributes
MemoryTaskAbstract *	memoryInternal
dg::SignalTimeDependent< VectorMultiBound, int >	taskSOUT
dg::SignalTimeDependent< dg::Matrix, int >	jacobianSOUT

Protected Member Functions
void	taskRegistration (void)

Detailed Description

Hierarchical element of the stack of tasks.

A task computes a value and a Jacobian as output signals. Once stacked into a solver, the solver will compute the control vector that makes the task values converge toward zero in the order defined by the priority levels.

Task diagram: Task types derive from

TaskAbstract. The value and Jacobian of a Task are computed from the features that are stored in the task.

Constructor & Destructor Documentation

TaskAbstract()

dynamicgraph::sot::TaskAbstract::TaskAbstract

(

const std::string &

n

)

Member Function Documentation

taskRegistration()

void dynamicgraph::sot::TaskAbstract::taskRegistration ( void  )

protected

Member Data Documentation

jacobianSOUT

dg::SignalTimeDependent<dg::Matrix, int> dynamicgraph::sot::TaskAbstract::jacobianSOUT

memoryInternal

MemoryTaskAbstract* dynamicgraph::sot::TaskAbstract::memoryInternal

taskSOUT

dg::SignalTimeDependent<VectorMultiBound, int> dynamicgraph::sot::TaskAbstract::taskSOUT