ABSTRACT class task. Each task is a derived class of this class. It contains all the variable that the task must have, methods to get these protected variables, and a pure virtual function that the derived class must implement. More...

#include <task.h>

Inheritance diagram for Task:

Public Member Functions
virtual int	updateMatrices (struct Infos *const robInfo)=0

std::string	getName ()

CMAT::Matrix	getJacobian ()

CMAT::Matrix	getActivation ()

CMAT::Matrix	getReference ()

CMAT::Matrix	getError ()

int &	getFlag_W ()
	Task::getFlag_W Various getter methods. More...

double &	getMu_W ()
	Task::getMu_W Various getter methods. More...

int &	getFlag_G ()
	Task::getFlag_G Various getter methods. More...

double &	getMu_G ()
	Task::getMu_G Various getter methods. More...

void	setFlag_W (int)

void	setMu_W (double)

void	setFlag_G (int)

void	setMu_G (double)

int	getThreshold ()

int	getLambda ()

int	getDof ()

int	getDimension ()

Public Attributes
bool	updated

bool	eqType

double	gain

Protected Member Functions
	Task (int dimension, bool eqType, std::string robotName, std::string taskName)
	Task::Task Constructor called by sons Constructor. without argument dof, default dof from define.h file is used. More...

Protected Attributes
int	dimension

int	dof

std::string	taskName

std::string	robotName

CMAT::Matrix	J

CMAT::Matrix	A

CMAT::Matrix	reference

CMAT::Matrix	error

int	flag_W

double	mu_W

int	flag_G

double	mu_G

int	threshold

int	lambda

Detailed Description

ABSTRACT class task. Each task is a derived class of this class. It contains all the variable that the task must have, methods to get these protected variables, and a pure virtual function that the derived class must implement.

Remarks: VERY IMPORTANT: yDot is [joints(1...n) x, y, z, wx, wy, wz] take care when doing JACOBIAN and REFERENCES

Definition at line 17 of file task.h.

Constructor & Destructor Documentation

Task::Task	(	int	dimension,
		bool	eqType,
		std::string	robotName,
		std::string	taskName
	)

protected

Task::Task Constructor called by sons Constructor. without argument dof, default dof from define.h file is used.

Parameters

dimension	dimension of the task (e.g. 1 for scalar task)
eqType	true or false for equality or inequality task
taskName	name of the task (for print purpose)
logActive	activate log prints to file or not

Note: There is no default Constructor (without argument) because at least dimension is necessary.

Definition at line 12 of file task.cpp.

Member Function Documentation

int & Task::getFlag_G ( )

Task::getFlag_G Various getter methods.

Returns

Note: why &: value passed to cmat function regPseudoinv must be lvalue because the signature is: Matrix& Matrix::RegPseudoInverse(double threshold, double lambda, double& mu, int& flag) const these gets are used only to pass values to that cmat function

Definition at line 73 of file task.cpp.

int & Task::getFlag_W ( )

Task::getFlag_W Various getter methods.

Returns

Note: why &: value passed to cmat function regPseudoinv must be lvalue because the signature is: Matrix& Matrix::RegPseudoInverse(double threshold, double lambda, double& mu, int& flag) const these gets are used only to pass values to that cmat function

Definition at line 57 of file task.cpp.

double & Task::getMu_G ( )

Task::getMu_G Various getter methods.

Returns

Note: why &: value passed to cmat function regPseudoinv must be lvalue because the signature is: Matrix& Matrix::RegPseudoInverse(double threshold, double lambda, double& mu, int& flag) const these gets are used only to pass values to that cmat function

Definition at line 81 of file task.cpp.

double & Task::getMu_W ( )

Task::getMu_W Various getter methods.

Returns

Note: why &: value passed to cmat function regPseudoinv must be lvalue because the signature is: Matrix& Matrix::RegPseudoInverse(double threshold, double lambda, double& mu, int& flag) const these gets are used only to pass values to that cmat function

Definition at line 65 of file task.cpp.

The documentation for this class was generated from the following files:

src/peg/src/tasks/header/task.h
src/peg/src/tasks/task.cpp

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation