This class implements the Stack of Task. It allows to deal with the priority of the controllers through the shell. 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 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	defineNbDof (const unsigned int &nbDof)
	This method defines the part of the state vector which correspond to the free flyer of the robot. More...

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

Static Public Member Functions
static void	taskVectorToMlVector (const VectorMultiBound &taskVector, Vector &err)
	Number of joints by default. More...

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

SignalPtr< dynamicgraph::Matrix, int >	proj0SIN
	A matrix K whose columns are a base of the desired velocity. In other words, \( \dot{q} = K * u \) where \( u \) is the free parameter to be computed. More...

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

SignalTimeDependent< dynamicgraph::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 Attributes
StackType	stack
	This field is a list of controllers managed by the stack of tasks. More...

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

bool	enablePostureTaskAcceleration
	Option to disable the computation of the SVD for the last task if this task is a Task with a single FeaturePosture. More...

double	maxControlIncrementSquaredNorm
	Maximum allowed squared norm of control increment. A task whose control increment is above this value is discarded. It defaults to `std::numeric_limits<double>::max()`. 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)

Detailed Description

This class implements the Stack of Task. It allows to deal with the priority of the controllers through the shell.

Member Typedef Documentation

◆ StackType

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

Defines a type for a list of tasks.

Constructor & Destructor Documentation

◆ Sot()

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

Default constructor.

◆ ~Sot()

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

inline

Member Function Documentation

◆ clear()

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

virtual

Remove all the tasks from the stack.

◆ computeControlLaw()

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

virtual

Compute the control law.

◆ defineNbDof()

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

virtual

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

◆ display()

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

virtual

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

◆ down()

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.

◆ exist()

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

virtual

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

◆ getClassName()

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

inlinevirtual

Returns the name of this class.

◆ getNbDof()

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

inlinevirtual

◆ pop()

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.

◆ push()

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.

◆ remove()

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.

◆ removeDependency()

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

virtual

This method removes the output signals depending on this task.

◆ tasks()

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

inlinevirtual

◆ taskVectorToMlVector()

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

static

Number of joints by default.

◆ up()

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.

◆ writeGraph()

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

virtual

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

Friends And Related Function Documentation

◆ operator<<

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

friend

Wrap the previous method around an operator.

Member Data Documentation

◆ CLASS_NAME

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

static

Specify the name of the class entity.

◆ controlSOUT

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

Allow to get the result of the computed control law.

◆ enablePostureTaskAcceleration

bool dynamicgraph::sot::Sot::enablePostureTaskAcceleration

protected

Option to disable the computation of the SVD for the last task if this task is a Task with a single FeaturePosture.

◆ INVERSION_THRESHOLD_DEFAULT

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

static

Threshold to compute the dumped pseudo inverse.

◆ inversionThresholdSIN

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

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

◆ maxControlIncrementSquaredNorm

double dynamicgraph::sot::Sot::maxControlIncrementSquaredNorm

protected

Maximum allowed squared norm of control increment. A task whose control increment is above this value is discarded. It defaults to std::numeric_limits<double>::max().

Warning: This is a security feature and is not a good way of adding a proper constraint on the control generated by SoT.

◆ nbJoints

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

protected

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

◆ proj0SIN

SignalPtr<dynamicgraph::Matrix, int> dynamicgraph::sot::Sot::proj0SIN

A matrix K whose columns are a base of the desired velocity. In other words, \( \dot{q} = K * u \) where \( u \) is the free parameter to be computed.

Note: K should be an orthonormal matrix.

◆ q0SIN

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

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

◆ stack

StackType dynamicgraph::sot::Sot::stack

protected

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

The documentation for this class was generated from the following file:

include/sot/core/sot.hh

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Protected Attributes

Methods to display the stack of tasks.

Detailed Description

Member Typedef Documentation

◆ StackType

Constructor & Destructor Documentation

◆ Sot()

◆ ~Sot()

Member Function Documentation

◆ clear()

◆ computeControlLaw()

◆ defineNbDof()

◆ display()

◆ down()

◆ exist()

◆ getClassName()

◆ getNbDof()

◆ pop()

◆ push()

◆ remove()

◆ removeDependency()

◆ tasks()

◆ taskVectorToMlVector()

◆ up()

◆ writeGraph()

Friends And Related Function Documentation

◆ operator<<

Member Data Documentation

◆ CLASS_NAME

◆ controlSOUT

◆ enablePostureTaskAcceleration

◆ INVERSION_THRESHOLD_DEFAULT

◆ inversionThresholdSIN

◆ maxControlIncrementSquaredNorm

◆ nbJoints

◆ proj0SIN

◆ q0SIN

◆ stack