This class implements the Stack of Task. It allows to deal with the priority of the controllers through the shell. The controllers can be either constraints either tasks. More...

#include <sot/core/sot.hh>

Inheritance diagram for dynamicgraph::sot::Sot:

[legend]

Public Types
typedef std::list< TaskAbstract * >	StackType
	Defines a type for a list of tasks. More...

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 Member Functions
virtual const std::string &	getClassName () const
	Returns the name of this class. More...

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

	~Sot (void)

virtual void	defineFreeFloatingJoints (const unsigned int &jointIdFirst, const unsigned int &jointIdLast=-1)
	This method defines the part of the state vector which correspond to the free flyer of the robot. More...

virtual void	defineNbDof (const unsigned int &nbDof)

virtual const unsigned int &	getNbDof () const

virtual std::ostream &	writeGraph (std::ostream &os) const
	This method write the priority between tasks in the output stream os. More...

Methods to handle the stack.
virtual const StackType &	tasks () const

virtual void	push (TaskAbstract &task)
	Push the task in the stack. It has a lowest priority than the previous ones. If this is the first task, then it has the highest priority. More...

virtual TaskAbstract &	pop (void)
	Pop the task from the stack. This method removes the task with the smallest priority in the task. The other are projected in the null-space of their predecessors. More...

virtual bool	exist (const TaskAbstract &task)
	This method allows to know if a task exists or not. More...

virtual void	remove (const TaskAbstract &task)
	Remove a task regardless to its position in the stack. It removes also the signals connected to the output signal of this stack. More...

virtual void	removeDependency (const TaskAbstract &key)
	This method removes the output signals depending on this task. More...

virtual void	up (const TaskAbstract &task)
	This method makes the task to swap with the task having the immediate superior priority. More...

virtual void	down (const TaskAbstract &task)
	This method makes the task to swap with the task having the immediate inferior priority. More...

virtual void	clear (void)
	Remove all the tasks from the stack. More...

Methods to handle the constraints.
virtual void	addConstraint (Constraint &constraint)
	Add a constraint to the stack with the current level of priority. More...

virtual void	removeConstraint (const Constraint &constraint)
	Remove a constraint from the stack. More...

virtual void	clearConstraint (void)
	Remove all the constraints from the stack. More...

Methods to compute the control law following the
recursive definition of the stack of tasks.
virtual dg::Vector &	computeControlLaw (dg::Vector &control, const int &time)
	Compute the control law. More...

virtual dg::Matrix &	computeConstraintProjector (dg::Matrix &Proj, const int &time)
	Compute the projector of the constraint. More...

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 Member Functions
static dg::Matrix &	computeJacobianConstrained (const dg::Matrix &Jac, const dg::Matrix &K, dg::Matrix &JK)
	Number of joints by default. More...

static dg::Matrix &	computeJacobianConstrained (const TaskAbstract &task, const dg::Matrix &K)

static void	taskVectorToMlVector (const VectorMultiBound &taskVector, Vector &err)

Public Attributes
Methods to handle signals
SignalPtr< dg::Vector, int >	q0SIN
	Intrinsec velocity of the robot, that is used to initialized the recurence of the SOT (e.g. velocity comming from the other OpenHRP plugins). More...

SignalPtr< double, int >	inversionThresholdSIN
	This signal allow to change the threshold for the damped pseudo-inverse on-line. More...

SignalTimeDependent< dg::Matrix, int >	constraintSOUT
	Allow to get the result of the Constraint projector. More...

SignalTimeDependent< dg::Vector, int >	controlSOUT
	Allow to get the result of the computed control law. More...

Static Public Attributes
static const std::string	CLASS_NAME
	Specify the name of the class entity. More...

static const double	INVERSION_THRESHOLD_DEFAULT
	Threshold to compute the dumped pseudo inverse. More...

Protected Types
typedef std::list< Constraint * >	ConstraintListType
	Defines a type for a list of constraints. More...

Protected Attributes
StackType	stack
	This field is a list of controllers managed by the stack of tasks. More...

ConstraintListType	constraintList
	This field is a list of constraints managed by the stack of tasks. More...

unsigned int	ffJointIdFirst
	Defines an interval in the state vector of the robot which is the free flyer. More...

unsigned int	ffJointIdLast

unsigned int	nbJoints
	Store the number of joints to be used in the command computed by the stack of tasks. More...

TaskAbstract *	taskGradient
	Store a pointer to compute the gradient. More...

bool	recomputeEachTime

Protected Attributes inherited from dynamicgraph::Entity
std::string	name

SignalMap	signalMap

CommandMap_t	commandMap

Logger	logger_

Static Protected Attributes
static const unsigned int	FF_JOINT_ID_DEFAULT = 0
	Defines a default joint. More...

Methods to display the stack of tasks.
virtual void	display (std::ostream &os) const

SOTSOT_CORE_EXPORT friend std::ostream &	operator<< (std::ostream &os, const Sot &sot)

Additional Inherited Members
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)

Detailed Description

This class implements the Stack of Task. It allows to deal with the priority of the controllers through the shell. The controllers can be either constraints either tasks.

Member Typedef Documentation

typedef std::list<Constraint*> dynamicgraph::sot::Sot::ConstraintListType

protected

Defines a type for a list of constraints.

typedef std::list<TaskAbstract*> dynamicgraph::sot::Sot::StackType

Defines a type for a list of tasks.

Constructor & Destructor Documentation

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

Default constructor.

dynamicgraph::sot::Sot::~Sot ( void )

inline

Member Function Documentation

virtual void dynamicgraph::sot::Sot::addConstraint ( Constraint & constraint )

virtual

Add a constraint to the stack with the current level of priority.

virtual void dynamicgraph::sot::Sot::clear ( void )

virtual

Remove all the tasks from the stack.

virtual void dynamicgraph::sot::Sot::clearConstraint ( void )

virtual

Remove all the constraints from the stack.

virtual dg::Matrix& dynamicgraph::sot::Sot::computeConstraintProjector	(	dg::Matrix &	Proj,
		const int &	time
	)

virtual

Compute the projector of the constraint.

virtual dg::Vector& dynamicgraph::sot::Sot::computeControlLaw	(	dg::Vector &	control,
		const int &	time
	)

virtual

Compute the control law.

static dg::Matrix& dynamicgraph::sot::Sot::computeJacobianConstrained	(	const dg::Matrix &	Jac,
		const dg::Matrix &	K,
		dg::Matrix &	JK
	)

static

Number of joints by default.

static dg::Matrix& dynamicgraph::sot::Sot::computeJacobianConstrained	(	const TaskAbstract &	task,
		const dg::Matrix &	K
	)

static

virtual void dynamicgraph::sot::Sot::defineFreeFloatingJoints	(	const unsigned int &	jointIdFirst,
		const unsigned int &	jointIdLast = `-1`
	)

virtual

This method defines the part of the state vector which correspond to the free flyer of the robot.

virtual void dynamicgraph::sot::Sot::defineNbDof ( const unsigned int & nbDof )

virtual

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

virtual

Display the stack of tasks in text mode as a tree.

Reimplemented from dynamicgraph::Entity.

virtual void dynamicgraph::sot::Sot::down ( const TaskAbstract & task )

virtual

This method makes the task to swap with the task having the immediate inferior priority.

virtual bool dynamicgraph::sot::Sot::exist ( const TaskAbstract & task )

virtual

This method allows to know if a task exists or not.

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

inlinevirtual

Returns the name of this class.

Reimplemented from dynamicgraph::Entity.

virtual const unsigned int& dynamicgraph::sot::Sot::getNbDof ( ) const

inlinevirtual

References dynamicgraph::sot::operator<<(), and SOTSOT_CORE_EXPORT.

virtual TaskAbstract& dynamicgraph::sot::Sot::pop ( void )

virtual

Pop the task from the stack. This method removes the task with the smallest priority in the task. The other are projected in the null-space of their predecessors.

virtual void dynamicgraph::sot::Sot::push ( TaskAbstract & task )

virtual

Push the task in the stack. It has a lowest priority than the previous ones. If this is the first task, then it has the highest priority.

virtual void dynamicgraph::sot::Sot::remove ( const TaskAbstract & task )

virtual

Remove a task regardless to its position in the stack. It removes also the signals connected to the output signal of this stack.

virtual void dynamicgraph::sot::Sot::removeConstraint ( const Constraint & constraint )

virtual

Remove a constraint from the stack.

virtual void dynamicgraph::sot::Sot::removeDependency ( const TaskAbstract & key )

virtual

This method removes the output signals depending on this task.

virtual const StackType& dynamicgraph::sot::Sot::tasks ( ) const

inlinevirtual

static void dynamicgraph::sot::Sot::taskVectorToMlVector	(	const VectorMultiBound &	taskVector,
		Vector &	err
	)

static

virtual void dynamicgraph::sot::Sot::up ( const TaskAbstract & task )

virtual

This method makes the task to swap with the task having the immediate superior priority.

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

virtual

This method write the priority between tasks in the output stream os.

Reimplemented from dynamicgraph::Entity.

Friends And Related Function Documentation

SOTSOT_CORE_EXPORT friend std::ostream& operator<<	(	std::ostream &	os,
		const Sot &	sot
	)

friend

Wrap the previous method around an operator.

Member Data Documentation

const std::string dynamicgraph::sot::Sot::CLASS_NAME

static

Specify the name of the class entity.

ConstraintListType dynamicgraph::sot::Sot::constraintList

protected

This field is a list of constraints managed by the stack of tasks.

SignalTimeDependent<dg::Matrix,int> dynamicgraph::sot::Sot::constraintSOUT

Allow to get the result of the Constraint projector.

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

Allow to get the result of the computed control law.

const unsigned int dynamicgraph::sot::Sot::FF_JOINT_ID_DEFAULT = 0

staticprotected

Defines a default joint.

unsigned int dynamicgraph::sot::Sot::ffJointIdFirst

protected

Defines an interval in the state vector of the robot which is the free flyer.

unsigned int dynamicgraph::sot::Sot::ffJointIdLast

protected

const double dynamicgraph::sot::Sot::INVERSION_THRESHOLD_DEFAULT

static

Threshold to compute the dumped pseudo inverse.

SignalPtr<double,int> dynamicgraph::sot::Sot::inversionThresholdSIN

This signal allow to change the threshold for the damped pseudo-inverse on-line.

unsigned int dynamicgraph::sot::Sot::nbJoints

protected

Store the number of joints to be used in the command computed by the stack of tasks.

SignalPtr<dg::Vector,int> dynamicgraph::sot::Sot::q0SIN

Intrinsec velocity of the robot, that is used to initialized the recurence of the SOT (e.g. velocity comming from the other OpenHRP plugins).

bool dynamicgraph::sot::Sot::recomputeEachTime

protected

Force the recomputation at each step.

StackType dynamicgraph::sot::Sot::stack

protected

This field is a list of controllers managed by the stack of tasks.

TaskAbstract* dynamicgraph::sot::Sot::taskGradient

protected

Store a pointer to compute the gradient.

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Protected Types

Protected Attributes

Static Protected Attributes

Methods to display the stack of tasks.

Additional Inherited Members

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation