10 #ifndef __SOT_TASK_H__ 11 #define __SOT_TASK_H__ 18 #include <dynamic-graph/linear-algebra.h> 35 #if defined task_EXPORTS 36 #define SOTTASK_EXPORT __declspec(dllexport) 38 #define SOTTASK_EXPORT __declspec(dllimport) 41 #define SOTTASK_EXPORT 81 DYNAMIC_GRAPH_ENTITY_DECL();
84 Task(
const std::string &n);
85 void initCommands(
void);
88 void addFeatureFromName(
const std::string &name);
89 void clearFeatureList(
void);
92 void setControlSelection(
const Flags &act);
93 void addControlSelection(
const Flags &act);
94 void clearControlSelection(
void);
96 void setWithDerivative(
const bool &s);
97 bool getWithDerivative(
void);
100 dynamicgraph::Vector &computeError(dynamicgraph::Vector &error,
int time);
103 dynamicgraph::Matrix &computeJacobian(dynamicgraph::Matrix &J,
int time);
104 dynamicgraph::Vector &computeErrorTimeDerivative(dynamicgraph::Vector &res,
112 dynamicgraph::SignalTimeDependent<dynamicgraph::Vector, int>
errorSOUT;
113 dynamicgraph::SignalTimeDependent<dynamicgraph::Vector, int>
117 void display(std::ostream &os)
const;
120 virtual std::ostream &writeGraph(std::ostream &os)
const;
FeatureList_t featureList
Definition: task.hh:78
dynamicgraph::SignalPtr< double, int > controlGainSIN
Definition: task.hh:109
std::vector< MultiBound > VectorMultiBound
Definition: multi-bound.hh:68
dynamicgraph::SignalPtr< Flags, int > controlSelectionSIN
Definition: task.hh:111
dynamicgraph::SignalTimeDependent< dynamicgraph::Vector, int > errorSOUT
Definition: task.hh:112
bool withDerivative
Definition: task.hh:79
#define SOTTASK_EXPORT
Definition: task.hh:41
Definition: task-abstract.hh:48
dynamicgraph::SignalPtr< double, int > dampingGainSINOUT
Definition: task.hh:110
This class gives the abstract definition of a feature.
Definition: feature-abstract.hh:75
dynamicgraph::SignalTimeDependent< dynamicgraph::Vector, int > errorTimeDerivativeSOUT
Definition: task.hh:114
Class that defines the basic elements of a task.
Definition: task.hh:73
std::list< FeatureAbstract * > FeatureList_t
Definition: task.hh:75
FeatureList_t & getFeatureList(void)
Definition: task.hh:90
Definition: abstract-sot-external-interface.hh:17