Public Member Functions | Public Attributes | Static Public Attributes | Protected Types | Protected Attributes | List of all members
dynamicgraph::sot::TaskConti Class Reference

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

Inheritance diagram for dynamicgraph::sot::TaskConti:
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Public Member Functions

virtual const std::string & getClassName (void) const
 
 TaskConti (const std::string &n)
 
void referenceTime (const unsigned int &t)
 
const int & referenceTime (void)
 
VectorMultiBound & computeContiDesiredVelocity (VectorMultiBound &task, const int &time)
 
void display (std::ostream &os) const
 
- Public Member Functions inherited from dynamicgraph::sot::Task
 Task (const std::string &n)
 
void initCommands (void)
 
void addFeature (FeatureAbstract &s)
 
void addFeatureFromName (const std::string &name)
 
void clearFeatureList (void)
 
FeatureList_t & getFeatureList (void)
 
void setControlSelection (const Flags &act)
 
void addControlSelection (const Flags &act)
 
void clearControlSelection (void)
 
void setWithDerivative (const bool &s)
 
bool getWithDerivative (void)
 
dg::Vector & computeError (dg::Vector &error, int time)
 
VectorMultiBound & computeTaskExponentialDecrease (VectorMultiBound &errorRef, int time)
 
dg::Matrix & computeJacobian (dg::Matrix &J, int time)
 
dg::Vector & computeErrorTimeDerivative (dg::Vector &res, int time)
 
void display (std::ostream &os) const
 
virtual std::ostream & writeGraph (std::ostream &os) const
 
- Public Member Functions inherited from dynamicgraph::sot::TaskAbstract
 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 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 ()
 

Public Attributes

dg::SignalPtr< dg::Vector, int > controlPrevSIN
 
- Public Attributes inherited from dynamicgraph::sot::Task
dg::SignalPtr< double, int > controlGainSIN
 
dg::SignalPtr< double, int > dampingGainSINOUT
 
dg::SignalPtr< Flags, int > controlSelectionSIN
 
dg::SignalTimeDependent< dg::Vector, int > errorSOUT
 
dg::SignalTimeDependent< dg::Vector, int > errorTimeDerivativeSOUT
 
- Public Attributes inherited from dynamicgraph::sot::TaskAbstract
MemoryTaskAbstract * memoryInternal
 
dg::SignalTimeDependent< VectorMultiBound, int > taskSOUT
 
dg::SignalTimeDependent< dg::Matrix, int > jacobianSOUT
 

Static Public Attributes

static const std::string CLASS_NAME
 

Protected Types

enum  TimeRefValues {
  TIME_REF_UNSIGNIFICANT = -1,
  TIME_REF_TO_BE_SET =-2
}
 

Protected Attributes

int timeRef
 
double mu
 
dg::Vector q0
 
- Protected Attributes inherited from dynamicgraph::sot::Task
FeatureList_t featureList
 
bool withDerivative
 
- Protected Attributes inherited from dynamicgraph::Entity
std::string name
 
SignalMap signalMap
 
CommandMap_t commandMap
 
Logger logger_
 

Additional Inherited Members

- Public Types inherited from dynamicgraph::sot::Task
typedef std::list< FeatureAbstract * > FeatureList_t
 
- 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 Member Functions inherited from dynamicgraph::sot::Task
 DYNAMIC_GRAPH_ENTITY_DECL ()
 
- Protected Member Functions inherited from dynamicgraph::sot::TaskAbstract
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)
 

Member Enumeration Documentation

enum dynamicgraph::sot::TaskConti::TimeRefValues
protected
Enumerator
TIME_REF_UNSIGNIFICANT 
TIME_REF_TO_BE_SET 

Constructor & Destructor Documentation

dynamicgraph::sot::TaskConti::TaskConti ( const std::string &  n)

Member Function Documentation

VectorMultiBound& dynamicgraph::sot::TaskConti::computeContiDesiredVelocity ( VectorMultiBound &  task,
const int &  time 
)
void dynamicgraph::sot::TaskConti::display ( std::ostream &  os) const
virtual

Reimplemented from dynamicgraph::Entity.

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

Reimplemented from dynamicgraph::Entity.

void dynamicgraph::sot::TaskConti::referenceTime ( const unsigned int &  t)
inline
const int& dynamicgraph::sot::TaskConti::referenceTime ( void  )
inline

Member Data Documentation

const std::string dynamicgraph::sot::TaskConti::CLASS_NAME
static
dg::SignalPtr< dg::Vector,int > dynamicgraph::sot::TaskConti::controlPrevSIN
double dynamicgraph::sot::TaskConti::mu
protected
dg::Vector dynamicgraph::sot::TaskConti::q0
protected
int dynamicgraph::sot::TaskConti::timeRef
protected