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/* |
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* Copyright 2010, |
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* François Bleibel, |
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* Olivier Stasse, |
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* |
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* CNRS/AIST |
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* |
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*/ |
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/* --------------------------------------------------------------------- */ |
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/* --- INCLUDE --------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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/* SOT */ |
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#include <dynamic-graph/all-commands.h> |
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#include <sot/core/debug.hh> |
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#include <sot/core/task-pd.hh> |
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using namespace std; |
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using namespace dynamicgraph::sot; |
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using namespace dynamicgraph; |
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#include <sot/core/factory.hh> |
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DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(TaskPD, "TaskPD"); |
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/* --------------------------------------------------------------------- */ |
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/* --- CLASS ----------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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TaskPD::TaskPD(const std::string &n) |
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: Task(n), |
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previousError(), |
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beta(1), |
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errorDotSOUT(boost::bind(&TaskPD::computeErrorDot, this, _1, _2), |
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errorSOUT, |
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"sotTaskPD(" + n + ")::output(vector)::errorDotOUT"), |
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errorDotSIN(NULL, "sotTaskPD(" + n + ")::input(vector)::errorDot") { |
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taskSOUT.setFunction(boost::bind(&TaskPD::computeTaskModif, this, _1, _2)); |
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taskSOUT.addDependency(errorDotSOUT); |
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signalRegistration(errorDotSOUT << errorDotSIN); |
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initCommand(); |
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errorDotSIN.plug(&errorDotSOUT); |
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} |
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/* --- COMPUTATION ---------------------------------------------------------- */ |
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/* --- COMPUTATION ---------------------------------------------------------- */ |
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/* --- COMPUTATION ---------------------------------------------------------- */ |
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dynamicgraph::Vector &TaskPD::computeErrorDot(dynamicgraph::Vector &errorDot, |
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int time) { |
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sotDEBUG(15) << "# In {" << endl; |
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const dynamicgraph::Vector &errCur = errorSOUT(time); |
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if (previousError.size() == errCur.size()) { |
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errorDot = errCur; |
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errorDot -= previousError; |
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previousError = errCur; |
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} else { |
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errorDot.resize(errCur.size()); |
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errorDot.setZero(); |
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previousError = errCur; |
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} |
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sotDEBUG(15) << "# Out }" << endl; |
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return errorDot; |
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} |
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VectorMultiBound &TaskPD::computeTaskModif(VectorMultiBound &task, int time) { |
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sotDEBUG(15) << "# In {" << endl; |
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const dynamicgraph::Vector &errorDot = errorDotSIN(time); |
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Task::computeTaskExponentialDecrease(task, time); |
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sotDEBUG(25) << " Task = " << task; |
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sotDEBUG(25) << " edot = " << errorDot; |
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for (unsigned int i = 0; i < task.size(); ++i) { |
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task[i] = task[i].getSingleBound() - (beta * errorDot(i)); |
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} |
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sotDEBUG(15) << "# Out }" << endl; |
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return task; |
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} |
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/* --- PARAMS --------------------------------------------------------------- */ |
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/* --- PARAMS --------------------------------------------------------------- */ |
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/* --- PARAMS --------------------------------------------------------------- */ |
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#include <sot/core/pool.hh> |
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void TaskPD::initCommand(void) { |
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using namespace command; |
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addCommand("setBeta", |
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makeDirectSetter(*this, &beta, docDirectSetter("beta", "double"))); |
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} |