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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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#ifndef __SOT_TASKABSTRACT_H__ |
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#define __SOT_TASKABSTRACT_H__ |
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/* --------------------------------------------------------------------- */ |
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/* --- INCLUDE --------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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/* Matrix */ |
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#include <dynamic-graph/linear-algebra.h> |
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#include <Eigen/SVD> |
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/* STD */ |
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#include <string> |
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/* SOT */ |
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#include <dynamic-graph/all-signals.h> |
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#include <dynamic-graph/entity.h> |
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#include <sot/core/multi-bound.hh> |
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#include "sot/core/api.hh" |
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/* --------------------------------------------------------------------- */ |
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/* --- CLASS ----------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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namespace dynamicgraph { |
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namespace sot { |
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/// Hierarchical element of the stack of tasks. |
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/// |
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/// A task computes a value and a Jacobian as output signals. |
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/// Once stacked into a solver, the solver will compute the control |
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/// vector that makes the task values converge toward zero in the |
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/// order defined by the priority levels. |
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/// |
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/// \image html pictures/task.png "Task diagram: Task types derive from |
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/// TaskAbstract. The value and Jacobian of a Task are computed from the |
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/// features that are stored in the task. |
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class SOT_CORE_EXPORT TaskAbstract : public dynamicgraph::Entity { |
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public: |
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/* Use a derivative of this class to store computational memory. */ |
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class MemoryTaskAbstract { |
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public: |
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int timeLastChange; |
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public: |
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MemoryTaskAbstract(void) : timeLastChange(0){}; |
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virtual ~MemoryTaskAbstract(void){}; |
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public: |
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virtual void display(std::ostream &os) const = 0; |
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friend std::ostream &operator<<(std::ostream &os, |
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const MemoryTaskAbstract &tcm) { |
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tcm.display(os); |
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return os; |
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} |
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}; |
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public: |
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MemoryTaskAbstract *memoryInternal; |
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protected: |
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void taskRegistration(void); |
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public: |
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TaskAbstract(const std::string &n); |
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public: /* --- SIGNALS --- */ |
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dynamicgraph::SignalTimeDependent<VectorMultiBound, int> taskSOUT; |
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dynamicgraph::SignalTimeDependent<dynamicgraph::Matrix, int> jacobianSOUT; |
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}; |
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} /* namespace sot */ |
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} /* namespace dynamicgraph */ |
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#endif /* #ifndef __SOT_TASKABSTRACT_H__ */ |
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