dynamicgraph::sot::Task Class Reference

Class that defines the basic elements of a task. More...

#include "Definition"

Inheritance diagram for dynamicgraph::sot::Task:

Public Types
typedef std::list< FeatureAbstract * >	FeatureList_t

Public Member Functions
	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< 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
	DYNAMIC_GRAPH_ENTITY_DECL ()
Protected Member Functions inherited from dynamicgraph::sot::TaskAbstract
void	taskRegistration (void)

Protected Attributes
FeatureList_t	featureList
bool	withDerivative

Detailed Description

Class that defines the basic elements of a task.

A task is defined as \( {\bf s} ={\bf e}({\bf q}) \) where \({\bf s} \) is a set of features and \({\bf q}\) the actuated joints of the robot.
It is assumes that \( \dot{\bf e} = - \lambda {\bf e} \). Moreover as it assumed that this task can provide: \( {\bf J} = \frac{\delta f}{\delta {\bf q}} \) It then possible to compute \( \dot{\bf q} = -\lambda {\bf J}^{\#} \dot{\bf e}\) with \( \dot{\bf e} = {\bf s}^{des} - {\bf s}^* \), and \( {\bf s}^{des}\) the desired feature and \( {\bf s}^* \) the one currently measured.

It is possible to add features or clear the list of features. This class makes also possible to select some of the listed of features to compute the control law through setControlSelection, addControlSelection, clearControlSelection.

Member Typedef Documentation

FeatureList_t

typedef std::list<FeatureAbstract *> dynamicgraph::sot::Task::FeatureList_t

Constructor & Destructor Documentation

Task()

dynamicgraph::sot::Task::Task

(

const std::string &

n

)

Member Function Documentation

addControlSelection()

void dynamicgraph::sot::Task::addControlSelection

(

const Flags &

act

)

addFeature()

void dynamicgraph::sot::Task::addFeature

(

FeatureAbstract &

s

)

addFeatureFromName()

void dynamicgraph::sot::Task::addFeatureFromName

(

const std::string &

name

)

clearControlSelection()

void dynamicgraph::sot::Task::clearControlSelection

(

void

)

clearFeatureList()

void dynamicgraph::sot::Task::clearFeatureList

(

void

)

computeError()

dg::Vector& dynamicgraph::sot::Task::computeError	(	dg::Vector &	error,
		int	time
	)

computeErrorTimeDerivative()

dg::Vector& dynamicgraph::sot::Task::computeErrorTimeDerivative	(	dg::Vector &	res,
		int	time
	)

computeJacobian()

dg::Matrix& dynamicgraph::sot::Task::computeJacobian	(	dg::Matrix &	J,
		int	time
	)

computeTaskExponentialDecrease()

VectorMultiBound& dynamicgraph::sot::Task::computeTaskExponentialDecrease	(	VectorMultiBound &	errorRef,
		int	time
	)

display()

void dynamicgraph::sot::Task::display

(

std::ostream &

os

)

const

DYNAMIC_GRAPH_ENTITY_DECL()

dynamicgraph::sot::Task::DYNAMIC_GRAPH_ENTITY_DECL ( )

protected

getFeatureList()

FeatureList_t& dynamicgraph::sot::Task::getFeatureList ( void  )

inline

getWithDerivative()

bool dynamicgraph::sot::Task::getWithDerivative

(

void

)

initCommands()

void dynamicgraph::sot::Task::initCommands

(

void

)

setControlSelection()

void dynamicgraph::sot::Task::setControlSelection

(

const Flags &

act

)

setWithDerivative()

void dynamicgraph::sot::Task::setWithDerivative

(

const bool &

s

)

writeGraph()

virtual std::ostream& dynamicgraph::sot::Task::writeGraph ( std::ostream &  os ) const

virtual

Member Data Documentation

controlGainSIN

dg::SignalPtr<double, int> dynamicgraph::sot::Task::controlGainSIN

controlSelectionSIN

dg::SignalPtr<Flags, int> dynamicgraph::sot::Task::controlSelectionSIN

dampingGainSINOUT

dg::SignalPtr<double, int> dynamicgraph::sot::Task::dampingGainSINOUT

errorSOUT

dg::SignalTimeDependent<dg::Vector, int> dynamicgraph::sot::Task::errorSOUT

errorTimeDerivativeSOUT

dg::SignalTimeDependent<dg::Vector, int> dynamicgraph::sot::Task::errorTimeDerivativeSOUT

featureList

FeatureList_t dynamicgraph::sot::Task::featureList

protected

withDerivative

bool dynamicgraph::sot::Task::withDerivative

protected