10 #ifndef __SOT_TASK_H__ 11 #define __SOT_TASK_H__ 18 #include <dynamic-graph/linear-algebra.h> 34 #if defined task_EXPORTS 35 #define SOTTASK_EXPORT __declspec(dllexport) 37 #define SOTTASK_EXPORT __declspec(dllimport) 40 #define SOTTASK_EXPORT 80 DYNAMIC_GRAPH_ENTITY_DECL();
83 Task(
const std::string &n);
84 void initCommands(
void);
87 void addFeatureFromName(
const std::string &name);
88 void clearFeatureList(
void);
91 void setControlSelection(
const Flags &act);
92 void addControlSelection(
const Flags &act);
93 void clearControlSelection(
void);
95 void setWithDerivative(
const bool &s);
96 bool getWithDerivative(
void);
99 dynamicgraph::Vector &computeError(dynamicgraph::Vector &error,
int time);
102 dynamicgraph::Matrix &computeJacobian(dynamicgraph::Matrix &J,
int time);
103 dynamicgraph::Vector &computeErrorTimeDerivative(dynamicgraph::Vector &res,
111 dynamicgraph::SignalTimeDependent<dynamicgraph::Vector, int>
errorSOUT;
112 dynamicgraph::SignalTimeDependent<dynamicgraph::Vector, int>
116 void display(std::ostream &os)
const;
119 virtual std::ostream &writeGraph(std::ostream &os)
const;
FeatureList_t featureList
Definition: task.hh:77
dynamicgraph::SignalPtr< double, int > controlGainSIN
Definition: task.hh:108
std::vector< MultiBound > VectorMultiBound
Definition: multi-bound.hh:71
dynamicgraph::SignalPtr< Flags, int > controlSelectionSIN
Definition: task.hh:110
dynamicgraph::SignalTimeDependent< dynamicgraph::Vector, int > errorSOUT
Definition: task.hh:111
bool withDerivative
Definition: task.hh:78
#define SOTTASK_EXPORT
Definition: task.hh:40
Definition: task-abstract.hh:51
dynamicgraph::SignalPtr< double, int > dampingGainSINOUT
Definition: task.hh:109
This class gives the abstract definition of a feature.
Definition: feature-abstract.hh:76
dynamicgraph::SignalTimeDependent< dynamicgraph::Vector, int > errorTimeDerivativeSOUT
Definition: task.hh:113
Class that defines the basic elements of a task.
Definition: task.hh:72
std::list< FeatureAbstract * > FeatureList_t
Definition: task.hh:74
FeatureList_t & getFeatureList(void)
Definition: task.hh:89
Definition: abstract-sot-external-interface.hh:17