sot-core
4.11.6
Hierarchical task solver plug-in for dynamic-graph.
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10 #ifndef __SOT_TASKCONTI_H__
11 #define __SOT_TASKCONTI_H__
18 #include <dynamic-graph/linear-algebra.h>
35 #if defined(task_conti_EXPORTS)
36 #define SOTTASKCONTI_EXPORT __declspec(dllexport)
38 #define SOTTASKCONTI_EXPORT __declspec(dllimport)
41 #define SOTTASKCONTI_EXPORT
53 enum TimeRefValues { TIME_REF_UNSIGNIFICANT = -1, TIME_REF_TO_BE_SET = -2 };
57 dynamicgraph::Vector
q0;
61 virtual const std::string &
getClassName(
void)
const {
return CLASS_NAME; }
78 void display(std::ostream &os)
const;
static const std::string CLASS_NAME
Definition: task-conti.hh:60
virtual const std::string & getClassName(void) const
Definition: task-conti.hh:61
Definition: abstract-sot-external-interface.hh:17
std::vector< MultiBound > VectorMultiBound
Definition: multi-bound.hh:69
dynamicgraph::Vector q0
Definition: task-conti.hh:57
#define SOTTASKCONTI_EXPORT
Definition: task-conti.hh:41
const int & referenceTime(void)
Definition: task-conti.hh:67
int timeRef
Definition: task-conti.hh:55
TimeRefValues
Definition: task-conti.hh:53
dynamicgraph::SignalPtr< dynamicgraph::Vector, int > controlPrevSIN
Definition: task-conti.hh:75
Definition: task-conti.hh:51
Class that defines the basic elements of a task.
Definition: task.hh:73
void referenceTime(const unsigned int &t)
Definition: task-conti.hh:66
double mu
Definition: task-conti.hh:56