dynamicgraph::sot Namespace Reference

Namespaces
	command
	core
	detail
	internal

Classes
class	NamedVector
class	AbstractSotExternalInterface
class	AdditionalFunctions
	This helper class dynamically overloads the "new" shell command to allow creation of tasks and features as well as entities. More...
class	BinaryIntToUint
class	BinaryOp
class	CausalFilter
class	ClampWorkspace
class	CoMFreezer
class	Contiifstream
class	ControlGR
class	ControlPD
class	DebugTrace
class	Derivator
class	Device
class	DoubleConstant
class	Event
class	ExceptionAbstract
class	ExceptionDynamic
class	ExceptionFactory
class	ExceptionFeature
class	ExceptionSignal
class	ExceptionTask
class	ExceptionTools
class	ExpMovingAvg
class	Feature1D
	Simple test: the task is defined to be e_2 = .5 . e'.e, with e the mother task. The jacobian is then J_2 = e'.J, J being the jacobian of the mother task. More...
class	FeatureAbstract
	This class gives the abstract definition of a feature. More...
class	FeatureReferenceHelper
class	FeatureGeneric
	Class that defines a generic implementation of the abstract interface for features. More...
class	FeatureJointLimits
	Class that defines gradient vector for jl avoidance. More...
class	FeatureLineDistance
	Class that defines point-3d control feature. More...
class	FeaturePoint6dRelative
	Class that defines the motion of a point of the body wrt. another point. More...
class	FeaturePoint6d
	Class that defines point-6d control feature. More...
class	FeaturePose
	Feature that controls the relative (or absolute) pose between two frames A (or world) and B. More...
class	FeaturePosture
class	FeatureTask
class	FeatureVector3
	Class that defines point-3d control feature. More...
class	FeatureVisualPoint
	Class that defines 2D visualPoint visual feature. More...
class	FilterDifferentiator
class	FIRFilter
class	Flags
class	GainAdaptive
class	GainHyperbolic
	Hyperbolic gain. It follows the law. More...
class	GradientAscent
class	GripperControl
	The goal of this entity is to ensure that the maximal torque will not be exceeded during a grasping task. If the maximal torque is reached, then the current position of the gripper is kept. More...
class	GripperControlPlugin
class	IntegratorAbstract
	integrates an ODE. If Y is the output and X the input, the following equation is integrated: a_p * d(p)Y / dt^p + .... + a_0 Y = b_m * d(m)X / dt^m + ... . b_0 X a_i are the coefficients of the denominator of the associated transfer function between X and Y, while the b_i are those of the numerator. More...
class	IntegratorEuler
	integrates an ODE using a naive Euler integration. TODO: change the integration method. For the moment, the highest derivative of the output signal is computed using the previous values of the other derivatives and the input signal, then integrated n times, which will most certainly induce a huge drift for ODEs with a high order at the denominator. More...
class	JointLimitator
	Filter control vector to avoid exceeding joint maximum values. More...
class	SotJointTrajectoryEntity
	This object handles trajectory of quantities and publish them as signals. More...
class	Kalman
class	Latch
class	MadgwickAHRS
struct	MailboxTimestampedObject
class	Mailbox
class	MatrixConstant
class	MemoryTaskSOT
class	MotionPeriod
class	MultiBound
class	NeckLimitation
class	OpPointModifier
	Compute position and jacobian of a local frame attached to a joint. More...
class	ParameterServer
class	PeriodicCallEntity
class	PeriodicCall
class	PoolStorage
	This singleton class keep tracks of all features and tasks. More...
class	RobotSimu
struct	JointLimits
class	ExtractJointMimics
struct	ForceLimits
struct	ForceUtil
struct	FootUtil
struct	HandUtil
struct	RobotUtil
class	Sequencer
class	SmoothReach
class	SotLoader
	This class is loading the control part of the Stack-Of-Tasks. More...
class	Sot
	This class implements the Stack of Task. It allows to deal with the priority of the controllers through the shell. More...
class	Switch
	Switch. More...
class	TaskAbstract
class	TaskConti
class	TaskPD
class	TaskUnilateral
class	Task
	Class that defines the basic elements of a task. More...
class	TimeStamp
class	RulesJointTrajectory
class	timestamp
class	Header
class	JointTrajectoryPoint
class	Trajectory
class	UnaryOp
class	VariadicAbstract
class	VariadicOp
class	VectorConstant
class	VectorToRotation
class	VisualPointProjecter

Typedefs
typedef NamedVector	SensorValues
typedef NamedVector	ControlValues
typedef FeaturePose< R3xSO3Representation >	FeaturePose_t
typedef FeaturePose< SE3Representation >	FeaturePoseSE3_t
typedef pinocchio::CartesianProductOperation< pinocchio::VectorSpaceOperationTpl< 3, double >, pinocchio::SpecialOrthogonalOperationTpl< 3, double > >	R3xSO3_t
typedef pinocchio::SpecialEuclideanOperationTpl< 3, double >	SE3_t
typedef Mailbox< dynamicgraph::Vector >	MailboxVector
typedef Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor >	MatrixRXd
typedef Eigen::Map< MatrixRXd >	SigMatrixXd
typedef Eigen::Map< Eigen::VectorXd >	SigVectorXd
typedef const Eigen::Map< const MatrixRXd >	const_SigMatrixXd
typedef const Eigen::Map< const Eigen::VectorXd >	const_SigVectorXd
typedef Eigen::Ref< Eigen::VectorXd >	RefVector
typedef const Eigen::Ref< const Eigen::VectorXd > &	ConstRefVector
typedef Eigen::Ref< Eigen::MatrixXd >	RefMatrix
typedef const Eigen::Ref< const Eigen::MatrixXd >	ConstRefMatrix
typedef Eigen::Transform< double, 3, Eigen::Affine > SOT_CORE_EXPORT	MatrixHomogeneous
typedef Eigen::Matrix< double, 3, 3 > SOT_CORE_EXPORT	MatrixRotation
typedef Eigen::AngleAxis< double > SOT_CORE_EXPORT	VectorUTheta
typedef Eigen::Quaternion< double > SOT_CORE_EXPORT	VectorQuaternion
typedef Eigen::Vector3d SOT_CORE_EXPORT	VectorRotation
typedef Eigen::Vector3d SOT_CORE_EXPORT	VectorRollPitchYaw
typedef Eigen::Matrix< double, 6, 6 > SOT_CORE_EXPORT	MatrixForce
typedef Eigen::Matrix< double, 6, 6 > SOT_CORE_EXPORT	MatrixTwist
typedef Eigen::Matrix< double, 7, 1 > SOT_CORE_EXPORT	Vector7
typedef Eigen::Quaternion< double > SOT_CORE_EXPORT	Quaternion
typedef Eigen::Map< Quaternion > SOT_CORE_EXPORT	QuaternionMap
typedef std::vector< MultiBound >	VectorMultiBound
typedef Eigen::VectorXd::Index	Index
typedef std::shared_ptr< RobotUtil >	RobotUtilShrPtr
	Accessors - This should be changed to RobotUtilPtrShared. More...

Enumerations
enum	ControlInput { CONTROL_INPUT_NO_INTEGRATION = 0 , CONTROL_INPUT_ONE_INTEGRATION = 1 , CONTROL_INPUT_TWO_INTEGRATION = 2 , CONTROL_INPUT_SIZE = 3 }
	Define the type of input expected by the robot. More...
enum	Representation_t { SE3Representation , R3xSO3Representation }
	Enum used to specify what difference operation is used in FeaturePose. More...

Functions
void	sotDEBUGF (const int, const char *,...)
void	sotDEBUGF (const char *,...)
void	sotERRORF (const int, const char *,...)
void	sotERRORF (const char *,...)
std::ostream &	__null_stream ()
void	sotTDEBUGF (const int, const char *,...)
void	sotTDEBUGF (const char *,...)
template<typename T >
Vector6d	convertVelocity (const MatrixHomogeneous &M, const MatrixHomogeneous &Mdes, const Vector &faNufafbDes)
void	toVector (const MatrixHomogeneous &M, Vector7 &v)
Vector7	toVector (const MatrixHomogeneous &M)
template<>
Vector6d	convertVelocity< SE3_t > (const MatrixHomogeneous &M, const MatrixHomogeneous &Mdes, const Vector &faNufafbDes)
template<>
Vector6d	convertVelocity< R3xSO3_t > (const MatrixHomogeneous &M, const MatrixHomogeneous &Mdes, const Vector &faNufafbDes)
void	buildFrom (const MatrixHomogeneous &MH, MatrixTwist &MT)
SOT_CORE_EXPORT std::ostream &	operator<< (std::ostream &os, const VectorMultiBound &v)
SOT_CORE_EXPORT std::istream &	operator>> (std::istream &os, VectorMultiBound &v)
RobotUtilShrPtr	RefVoidRobotUtil ()
RobotUtilShrPtr	getRobotUtil (std::string &robotName)
bool	isNameInRobotUtil (std::string &robotName)
RobotUtilShrPtr	createRobotUtil (std::string &robotName)
std::shared_ptr< std::vector< std::string > >	getListOfRobots ()
bool	base_se3_to_sot (ConstRefVector pos, ConstRefMatrix R, RefVector q_sot)

Variables
SOT_CORE_EXPORT DebugTrace	sotDEBUGFLOW
SOT_CORE_EXPORT DebugTrace	sotERRORFLOW
const std::string	ControlInput_s [] = {"noInteg", "oneInteg", "twoInteg"}

Detailed Description

This is the namespace for a subset of helperd classes related to the implementation of the Stack-Of-Tasks.

Typedef Documentation

const_SigMatrixXd

typedef const Eigen::Map<const MatrixRXd> dynamicgraph::sot::const_SigMatrixXd

const_SigVectorXd

typedef const Eigen::Map<const Eigen::VectorXd> dynamicgraph::sot::const_SigVectorXd

ConstRefMatrix

typedef const Eigen::Ref<const Eigen::MatrixXd> dynamicgraph::sot::ConstRefMatrix

ConstRefVector

typedef const Eigen::Ref<const Eigen::VectorXd>& dynamicgraph::sot::ConstRefVector

ControlValues

typedef NamedVector dynamicgraph::sot::ControlValues

FeaturePose_t

typedef FeaturePose<R3xSO3Representation> dynamicgraph::sot::FeaturePose_t

FeaturePoseSE3_t

typedef FeaturePose<SE3Representation> dynamicgraph::sot::FeaturePoseSE3_t

Index

typedef Eigen::VectorXd::Index dynamicgraph::sot::Index

MailboxVector

typedef Mailbox<dynamicgraph::Vector> dynamicgraph::sot::MailboxVector

MatrixForce

typedef Eigen::Matrix<double, 6, 6> SOT_CORE_EXPORT dynamicgraph::sot::MatrixForce

MatrixHomogeneous

typedef Eigen::Transform<double, 3, Eigen::Affine> SOT_CORE_EXPORT dynamicgraph::sot::MatrixHomogeneous

MatrixRotation

typedef Eigen::Matrix<double, 3, 3> SOT_CORE_EXPORT dynamicgraph::sot::MatrixRotation

MatrixRXd

typedef Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor> dynamicgraph::sot::MatrixRXd

MatrixTwist

typedef Eigen::Matrix<double, 6, 6> SOT_CORE_EXPORT dynamicgraph::sot::MatrixTwist

Quaternion

typedef Eigen::Quaternion<double> SOT_CORE_EXPORT dynamicgraph::sot::Quaternion

QuaternionMap

typedef Eigen::Map<Quaternion> SOT_CORE_EXPORT dynamicgraph::sot::QuaternionMap

R3xSO3_t

typedef pinocchio::CartesianProductOperation< pinocchio::VectorSpaceOperationTpl<3, double>, pinocchio::SpecialOrthogonalOperationTpl<3, double> > dynamicgraph::sot::R3xSO3_t

RefMatrix

typedef Eigen::Ref<Eigen::MatrixXd> dynamicgraph::sot::RefMatrix

RefVector

typedef Eigen::Ref<Eigen::VectorXd> dynamicgraph::sot::RefVector

RobotUtilShrPtr

typedef std::shared_ptr<RobotUtil> dynamicgraph::sot::RobotUtilShrPtr

Accessors - This should be changed to RobotUtilPtrShared.

SE3_t

typedef pinocchio::SpecialEuclideanOperationTpl<3, double> dynamicgraph::sot::SE3_t

SensorValues

typedef NamedVector dynamicgraph::sot::SensorValues

SigMatrixXd

typedef Eigen::Map<MatrixRXd> dynamicgraph::sot::SigMatrixXd

SigVectorXd

typedef Eigen::Map<Eigen::VectorXd> dynamicgraph::sot::SigVectorXd

Vector7

typedef Eigen::Matrix<double, 7, 1> SOT_CORE_EXPORT dynamicgraph::sot::Vector7

VectorMultiBound

typedef std::vector<MultiBound> dynamicgraph::sot::VectorMultiBound

VectorQuaternion

typedef Eigen::Quaternion<double> SOT_CORE_EXPORT dynamicgraph::sot::VectorQuaternion

VectorRollPitchYaw

typedef Eigen::Vector3d SOT_CORE_EXPORT dynamicgraph::sot::VectorRollPitchYaw

VectorRotation

typedef Eigen::Vector3d SOT_CORE_EXPORT dynamicgraph::sot::VectorRotation

VectorUTheta

typedef Eigen::AngleAxis<double> SOT_CORE_EXPORT dynamicgraph::sot::VectorUTheta

Enumeration Type Documentation

ControlInput

enum dynamicgraph::sot::ControlInput

Define the type of input expected by the robot.

Enumerator
CONTROL_INPUT_NO_INTEGRATION
CONTROL_INPUT_ONE_INTEGRATION
CONTROL_INPUT_TWO_INTEGRATION
CONTROL_INPUT_SIZE

Representation_t

enum dynamicgraph::sot::Representation_t

Enum used to specify what difference operation is used in FeaturePose.

Enumerator
SE3Representation
R3xSO3Representation

Function Documentation

__null_stream()

std::ostream& dynamicgraph::sot::__null_stream ( )

inline

base_se3_to_sot()

bool dynamicgraph::sot::base_se3_to_sot	(	ConstRefVector	pos,
		ConstRefMatrix	R,
		RefVector	q_sot
	)

buildFrom()

void dynamicgraph::sot::buildFrom ( const MatrixHomogeneous &  MH, MatrixTwist &  MT  )

inline

convertVelocity()

template<typename T >

Vector6d dynamicgraph::sot::convertVelocity	(	const MatrixHomogeneous &	M,
		const MatrixHomogeneous &	Mdes,
		const Vector &	faNufafbDes
	)

convertVelocity< R3xSO3_t >()

template<>

Vector6d dynamicgraph::sot::convertVelocity< R3xSO3_t >	(	const MatrixHomogeneous &	M,
		const MatrixHomogeneous &	Mdes,
		const Vector &	faNufafbDes
	)

convertVelocity< SE3_t >()

template<>

Vector6d dynamicgraph::sot::convertVelocity< SE3_t >	(	const MatrixHomogeneous &	M,
		const MatrixHomogeneous &	Mdes,
		const Vector &	faNufafbDes
	)

createRobotUtil()

RobotUtilShrPtr dynamicgraph::sot::createRobotUtil

(

std::string &

robotName

)

getListOfRobots()

std::shared_ptr<std::vector<std::string> > dynamicgraph::sot::getListOfRobots

(

)

getRobotUtil()

RobotUtilShrPtr dynamicgraph::sot::getRobotUtil

(

std::string &

robotName

)

isNameInRobotUtil()

bool dynamicgraph::sot::isNameInRobotUtil

(

std::string &

robotName

)

operator<<()

SOT_CORE_EXPORT std::ostream& dynamicgraph::sot::operator<<	(	std::ostream &	os,
		const VectorMultiBound &	v
	)

operator>>()

SOT_CORE_EXPORT std::istream& dynamicgraph::sot::operator>>	(	std::istream &	os,
		VectorMultiBound &	v
	)

RefVoidRobotUtil()

RobotUtilShrPtr dynamicgraph::sot::RefVoidRobotUtil

(

)

sotDEBUGF() [1/2]

void dynamicgraph::sot::sotDEBUGF ( const char *  ,   ...  )

inline

sotDEBUGF() [2/2]

void dynamicgraph::sot::sotDEBUGF ( const int  , const char *  ,   ...  )

inline

sotERRORF() [1/2]

void dynamicgraph::sot::sotERRORF ( const char *  ,   ...  )

inline

sotERRORF() [2/2]

void dynamicgraph::sot::sotERRORF ( const int  , const char *  ,   ...  )

inline

sotTDEBUGF() [1/2]

void dynamicgraph::sot::sotTDEBUGF ( const char *  ,   ...  )

inline

sotTDEBUGF() [2/2]

void dynamicgraph::sot::sotTDEBUGF ( const int  , const char *  ,   ...  )

inline

toVector() [1/2]

Vector7 dynamicgraph::sot::toVector

(

const MatrixHomogeneous &

M

)

toVector() [2/2]

void dynamicgraph::sot::toVector	(	const MatrixHomogeneous &	M,
		Vector7 &	v
	)

Variable Documentation

ControlInput_s

const std::string dynamicgraph::sot::ControlInput_s[] = {"noInteg", "oneInteg", "twoInteg"}

sotDEBUGFLOW

SOT_CORE_EXPORT DebugTrace dynamicgraph::sot::sotDEBUGFLOW

extern

sotERRORFLOW

SOT_CORE_EXPORT DebugTrace dynamicgraph::sot::sotERRORFLOW

extern