dynamicgraph::sot::TaskAbstract Class Reference

Hierarchical element of the stack of tasks. More...

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

Inheritance diagram for dynamicgraph::sot::TaskAbstract:

Classes
class	MemoryTaskAbstract

Public Member Functions
	TaskAbstract (const std::string &n)
Public Member Functions inherited from dynamicgraph::Entity
	Entity (const std::string &name)
virtual	~Entity ()
const std::string &	getName () const
virtual const std::string &	getClassName () 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 void	display (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
MemoryTaskAbstract *	memoryInternal
dg::SignalTimeDependent< VectorMultiBound, int >	taskSOUT
dg::SignalTimeDependent< dg::Matrix, int >	jacobianSOUT

Protected Member Functions
void	taskRegistration (void)
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)

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

Detailed Description

Hierarchical element of the stack of tasks.

A task computes a value and a Jacobian as output signals. Once stacked into a solver, the solver will compute the control vector that makes the task values converge toward zero in the order defined by the priority levels.

Task diagram: Task types derive from TaskAbstract. The value and Jacobian of a Task are computed from the features that are stored in the task.

Constructor & Destructor Documentation

dynamicgraph::sot::TaskAbstract::TaskAbstract

(

const std::string &

n

)

Member Function Documentation

void dynamicgraph::sot::TaskAbstract::taskRegistration ( void  )

protected

Member Data Documentation

dg::SignalTimeDependent< dg::Matrix,int > dynamicgraph::sot::TaskAbstract::jacobianSOUT

MemoryTaskAbstract* dynamicgraph::sot::TaskAbstract::memoryInternal

dg::SignalTimeDependent< VectorMultiBound,int > dynamicgraph::sot::TaskAbstract::taskSOUT