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

Inheritance diagram for dynamicgraph::sot::FeatureTask:

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

	FeatureTask (const std::string &name)
	Default constructor. More...

virtual	~FeatureTask (void)
	Default destructor. More...

virtual void	display (std::ostream &os) const
	Display the information related to this task implementation. More...

Public Member Functions inherited from dynamicgraph::sot::FeatureGeneric
	FeatureGeneric (const std::string &name)
	Default constructor. More...

virtual	~FeatureGeneric (void)
	Default destructor. More...

virtual unsigned int &	getDimension (unsigned int &dim, int time)
	Get the dimension of the feature. More...

virtual dg::Vector &	computeError (dg::Vector &res, int time)
	Compute the error between the desired value and the value itself. More...

virtual dg::Matrix &	computeJacobian (dg::Matrix &res, int time)
	Compute the Jacobian of the value according to the robot state.. More...

	DECLARE_REFERENCE_FUNCTIONS (FeatureGeneric)

Public Member Functions inherited from dynamicgraph::sot::FeatureAbstract
void	featureRegistration (void)
	Register the feature in the stack of tasks. More...

void	initCommands (void)

	FeatureAbstract (const std::string &name)
	Default constructor: the name of the class should be given. More...

virtual	~FeatureAbstract (void)
	Default destructor. More...

unsigned int	getDimension (int time)
	Short method. More...

unsigned int	getDimension (void) const
	Shortest method. More...

virtual dg::Vector &	computeErrorDot (dg::Vector &res, int time)
	Callback for signal errordotSOUT. More...

virtual void	setReference (FeatureAbstract *sdes)=0

virtual void	unsetReference (void)

virtual const FeatureAbstract *	getReferenceAbstract (void) const =0

virtual FeatureAbstract *	getReferenceAbstract (void)=0

virtual bool	isReferenceSet (void) const

virtual void	addDependenciesFromReference (void)=0

virtual void	removeDependenciesFromReference (void)=0

void	setReferenceByName (const std::string &name)

std::string	getReferenceByName (void) const

virtual std::ostream &	writeGraph (std::ostream &os) const
	This method write a graph description on the file named FileName. More...

virtual SOT_CORE_DEPRECATED bool	withErrorDot (void) const
	Return true for children that provide the errordot output signal. More...

virtual SignalTimeDependent< dg::Vector, int > &	getErrorDot ()

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 &	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 ()

Static Public Attributes
static const std::string	CLASS_NAME

Static Public Attributes inherited from dynamicgraph::sot::FeatureGeneric
static const std::string	CLASS_NAME

Static Public Attributes inherited from dynamicgraph::sot::FeatureAbstract
static const std::string	CLASS_NAME
	Store the name of the class. More...

Protected Attributes
TaskAbstract *	taskPtr

Protected Attributes inherited from dynamicgraph::sot::FeatureGeneric
dg::Vector::Index	dimensionDefault

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

Public Attributes inherited from dynamicgraph::sot::FeatureGeneric
dg::SignalPtr< dg::Vector, int >	errorSIN
	Input for the error. More...

dg::SignalPtr< dg::Matrix, int >	jacobianSIN
	Input for the Jacobian. More...

Public Attributes inherited from dynamicgraph::sot::FeatureAbstract
SignalPtr< Flags, int >	selectionSIN
	This vector specifies which dimension are used to perform the computation. For instance let us assume that the feature is a 3D point. If only the Y-axis should be used for computing error, activation and Jacobian, then the vector to specify is \( [ 0 1 0] \). More...

SignalPtr< dg::Vector, int >	errordotSIN
	Derivative of the reference value. More...

SignalTimeDependent< dg::Vector, int >	errorSOUT
	This signal returns the error between the desired value and the current value : \( {\bf s}^*(t) - {\bf s}(t)\). More...

SignalTimeDependent< dg::Vector, int >	errordotSOUT
	Derivative of the reference value. More...

SignalTimeDependent< dg::Matrix, int >	jacobianSOUT
	This signal returns the Jacobian of the current value according to the robot state: \( J(t) = \frac{\delta{\bf s}^*(t)}{\delta {\bf q}(t)}\). More...

SignalTimeDependent< unsigned int, int >	dimensionSOUT
	Returns the dimension of the feature as an output signal. More...

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)

Constructor & Destructor Documentation

dynamicgraph::sot::FeatureTask::FeatureTask ( const std::string & name )

Default constructor.

virtual dynamicgraph::sot::FeatureTask::~FeatureTask ( void )

inlinevirtual

Default destructor.

Member Function Documentation

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

virtual

Display the information related to this task implementation.

Reimplemented from dynamicgraph::sot::FeatureGeneric.

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

inlinevirtual

Returns the name of the class.

Reimplemented from dynamicgraph::sot::FeatureGeneric.

Member Data Documentation

const std::string dynamicgraph::sot::FeatureTask::CLASS_NAME

static

Field storing the class name.

TaskAbstract* dynamicgraph::sot::FeatureTask::taskPtr

protected

Public Member Functions

Static Public Attributes

Protected Attributes

Additional Inherited Members

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation