task-abstract.hh

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/*
 * Copyright 2010,
 * François Bleibel,
 * Olivier Stasse,
 *
 * CNRS/AIST
 *
 */
 
#ifndef __SOT_TASKABSTRACT_H__
#define __SOT_TASKABSTRACT_H__
 
/* --------------------------------------------------------------------- */
/* --- INCLUDE --------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
/* Matrix */
#include <dynamic-graph/linear-algebra.h>
 
#include <Eigen/SVD>
 
/* STD */
#include <string>
 
/* SOT */
#include <dynamic-graph/all-signals.h>
#include <dynamic-graph/entity.h>
 
#include <sot/core/multi-bound.hh>
 
#include "sot/core/api.hh"
 
/* --------------------------------------------------------------------- */
/* --- CLASS ----------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
namespace dynamicgraph {
namespace sot {
 
 
class SOT_CORE_EXPORT TaskAbstract : public dynamicgraph::Entity {
 public:
  /* Use a derivative of this class to store computational memory. */
  class MemoryTaskAbstract {
   public:
    int timeLastChange;
 
   public:
    MemoryTaskAbstract(void) : timeLastChange(0){};
    virtual ~MemoryTaskAbstract(void){};
 
   public:
    virtual void display(std::ostream &os) const = 0;
    friend std::ostream &operator<<(std::ostream &os,
                                    const MemoryTaskAbstract &tcm) {
      tcm.display(os);
      return os;
    }
  };
 
 public:
  MemoryTaskAbstract *memoryInternal;
 
 protected:
  void taskRegistration(void);
 
 public:
  TaskAbstract(const std::string &n);
 
 public: /* --- SIGNALS --- */
  dynamicgraph::SignalTimeDependent<VectorMultiBound, int> taskSOUT;
  dynamicgraph::SignalTimeDependent<dynamicgraph::Matrix, int> jacobianSOUT;
};
 
} /* namespace sot */
} /* namespace dynamicgraph */
 
#endif /* #ifndef __SOT_TASKABSTRACT_H__ */