dynamicgraph::sot::TaskConti Class Reference

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

Inheritance diagram for dynamicgraph::sot::TaskConti:

Public Member Functions
virtual const std::string &	getClassName (void) const
	TaskConti (const std::string &n)
void	referenceTime (const unsigned int &t)
const int &	referenceTime (void)
VectorMultiBound &	computeContiDesiredVelocity (VectorMultiBound &task, const int &time)
void	display (std::ostream &os) const
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_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)
void	display (std::ostream &os) const
virtual std::ostream &	writeGraph (std::ostream &os) const
Public Member Functions inherited from dynamicgraph::sot::TaskAbstract
	TaskAbstract (const std::string &n)

Public Attributes
dg::SignalPtr< dg::Vector, int >	controlPrevSIN
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

Static Public Attributes
static const std::string	CLASS_NAME

Protected Types
enum	TimeRefValues {   TIME_REF_UNSIGNIFICANT = -1,   TIME_REF_TO_BE_SET = -2 }

Protected Attributes
int	timeRef
double	mu
dg::Vector	q0
Protected Attributes inherited from dynamicgraph::sot::Task
FeatureList_t	featureList
bool	withDerivative

Additional Inherited Members
Public Types inherited from dynamicgraph::sot::Task
typedef std::list< FeatureAbstract * >	FeatureList_t
Protected Member Functions inherited from dynamicgraph::sot::Task
	DYNAMIC_GRAPH_ENTITY_DECL ()
Protected Member Functions inherited from dynamicgraph::sot::TaskAbstract
void	taskRegistration (void)

Member Enumeration Documentation

TimeRefValues

enum dynamicgraph::sot::TaskConti::TimeRefValues

protected

Enumerator
TIME_REF_UNSIGNIFICANT
TIME_REF_TO_BE_SET

Constructor & Destructor Documentation

TaskConti()

dynamicgraph::sot::TaskConti::TaskConti

(

const std::string &

n

)

Member Function Documentation

computeContiDesiredVelocity()

VectorMultiBound& dynamicgraph::sot::TaskConti::computeContiDesiredVelocity	(	VectorMultiBound &	task,
		const int &	time
	)

display()

void dynamicgraph::sot::TaskConti::display

(

std::ostream &

os

)

const

getClassName()

virtual const std::string& dynamicgraph::sot::TaskConti::getClassName ( void  ) const

inlinevirtual

referenceTime() [1/2]

void dynamicgraph::sot::TaskConti::referenceTime ( const unsigned int &  t )

inline

referenceTime() [2/2]

const int& dynamicgraph::sot::TaskConti::referenceTime ( void  )

inline

Member Data Documentation

CLASS_NAME

const std::string dynamicgraph::sot::TaskConti::CLASS_NAME

static

controlPrevSIN

dg::SignalPtr<dg::Vector, int> dynamicgraph::sot::TaskConti::controlPrevSIN

mu

double dynamicgraph::sot::TaskConti::mu

protected

q0

dg::Vector dynamicgraph::sot::TaskConti::q0

protected

timeRef

int dynamicgraph::sot::TaskConti::timeRef

protected