dynamicgraph::sot::ControlGR Class Reference

#include <sot/core/control-gr.hh>

Inheritance diagram for dynamicgraph::sot::ControlGR:

Public Member Functions
	ControlGR (const std::string &name)
void	init (const double &step)
virtual void	display (std::ostream &os) const
virtual const std::string &	getClassName (void) const
Public Member Functions inherited from dynamicgraph::Entity
	Entity (const std::string &name)
virtual	~Entity ()
const std::string &	getName () const
virtual std::string	getDocString () const
bool	hasSignal (const std::string &signame) const
SignalBase< int > &	getSignal (const std::string &signalName)
const SignalBase< int > &	getSignal (const std::string &signalName) const
std::ostream &	displaySignalList (std::ostream &os) const
virtual std::ostream &	writeGraph (std::ostream &os) const
virtual std::ostream &	writeCompletionList (std::ostream &os) const
virtual SignalBase< int > *	test ()
virtual void	test2 (SignalBase< int > *)
const std::string &	getCommandList () const
CommandMap_t	getNewStyleCommandMap ()
command::Command *	getNewStyleCommand (const std::string &cmdName)
SignalMap	getSignalMap () const
void	sendMsg (const std::string &msg, MsgType t=MSG_TYPE_INFO, const char *file="", int line=0)
void	setLoggerVerbosityLevel (LoggerVerbosity lv)
LoggerVerbosity	getLoggerVerbosityLevel ()

Public Attributes
SignalPtr< dg::Matrix, int >	matrixASIN
SignalPtr< dg::Vector, int >	accelerationSIN
SignalPtr< dg::Vector, int >	gravitySIN
SignalTimeDependent< dg::Vector, int >	controlSOUT

Static Public Attributes
static const double	TIME_STEP_DEFAULT
static const std::string	CLASS_NAME

Protected Member Functions
double &	setsize (int dimension)
dg::Vector &	computeControl (dg::Vector &tau, int t)
Protected Member Functions inherited from dynamicgraph::Entity
void	addCommand (const std::string &name, command::Command *command)
void	entityRegistration ()
void	entityDeregistration ()
void	signalRegistration (const SignalArray< int > &signals)
void	signalDeregistration (const std::string &name)

Protected Attributes
double	TimeStep
double	_dimension
Protected Attributes inherited from dynamicgraph::Entity
std::string	name
SignalMap	signalMap
CommandMap_t	commandMap
Logger	logger_

Additional Inherited Members
Public Types inherited from dynamicgraph::Entity
typedef std::map< std::string, SignalBase< int > * >	SignalMap
typedef std::map< const std::string, command::Command * >	CommandMap_t

Constructor & Destructor Documentation

dynamicgraph::sot::ControlGR::ControlGR

(

const std::string &

name

)

Member Function Documentation

dg::Vector& dynamicgraph::sot::ControlGR::computeControl ( dg::Vector &  tau, int  t  )

protected

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

virtual

Reimplemented from dynamicgraph::Entity.

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

inlinevirtual

Reimplemented from dynamicgraph::Entity.

void dynamicgraph::sot::ControlGR::init

(

const double &

step

)

double& dynamicgraph::sot::ControlGR::setsize ( int  dimension )

protected

Member Data Documentation

double dynamicgraph::sot::ControlGR::_dimension

protected

SignalPtr<dg::Vector,int> dynamicgraph::sot::ControlGR::accelerationSIN

const std::string dynamicgraph::sot::ControlGR::CLASS_NAME

static

SignalTimeDependent<dg::Vector,int> dynamicgraph::sot::ControlGR::controlSOUT

SignalPtr<dg::Vector,int> dynamicgraph::sot::ControlGR::gravitySIN

SignalPtr<dg::Matrix,int> dynamicgraph::sot::ControlGR::matrixASIN

const double dynamicgraph::sot::ControlGR::TIME_STEP_DEFAULT

static

double dynamicgraph::sot::ControlGR::TimeStep

protected