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

Inheritance diagram for dynamicgraph::sot::TaskUnilateral:

Public Member Functions
virtual const std::string &	getClassName (void) const

	TaskUnilateral (const std::string &n)

VectorMultiBound &	computeTaskUnilateral (VectorMultiBound &res, 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 >	positionSIN

dg::SignalPtr< dg::Vector, int >	referenceInfSIN

dg::SignalPtr< dg::Vector, int >	referenceSupSIN

dg::SignalPtr< double, int >	dtSIN

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 Attributes
std::list< FeatureAbstract * >	featureList

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)

Constructor & Destructor Documentation

◆ TaskUnilateral()

dynamicgraph::sot::TaskUnilateral::TaskUnilateral ( const std::string & n )

Member Function Documentation

◆ computeTaskUnilateral()

VectorMultiBound& dynamicgraph::sot::TaskUnilateral::computeTaskUnilateral	(	VectorMultiBound &	res,
		int	time
	)

◆ display()

void dynamicgraph::sot::TaskUnilateral::display ( std::ostream & os ) const

◆ getClassName()

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

inlinevirtual

Member Data Documentation

◆ CLASS_NAME

const std::string dynamicgraph::sot::TaskUnilateral::CLASS_NAME

static

◆ dtSIN

dg::SignalPtr<double, int> dynamicgraph::sot::TaskUnilateral::dtSIN

◆ featureList

std::list<FeatureAbstract *> dynamicgraph::sot::TaskUnilateral::featureList

protected

◆ positionSIN

dg::SignalPtr<dg::Vector, int> dynamicgraph::sot::TaskUnilateral::positionSIN

◆ referenceInfSIN

dg::SignalPtr<dg::Vector, int> dynamicgraph::sot::TaskUnilateral::referenceInfSIN

◆ referenceSupSIN

dg::SignalPtr<dg::Vector, int> dynamicgraph::sot::TaskUnilateral::referenceSupSIN

Public Member Functions

Public Attributes

Static Public Attributes

Protected Attributes

Additional Inherited Members