task.cpp

#include "header/task.h"

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

  this->dimension = dimension;
  this->dof = TOT_DOF;
  this->eqType = eqType;
  this->robotName = robotName;
  this->taskName = taskName;

  updated = false;

  J = CMAT::Matrix::Zeros(dimension, dof);
  A = CMAT::Matrix::Zeros(dimension, dimension);
  reference = CMAT::Matrix::Zeros(dimension,1);
  error = CMAT::Matrix::Zeros(dimension,1);

  threshold = THRESHOLD_DEFAULT;
  lambda = LAMBDA_DEFAULT;

  //for reg pseudoinverse of cmat
  flag_W = 0;
  mu_W = 0.0;
  flag_G = 0;
  mu_G = 0.0;

  std::cout << "[" << robotName  <<"]["<< taskName << "]" << " Created" << std::endl;
}

Task::~Task(){}

std::string Task::getName(){return this->taskName;}
CMAT::Matrix Task::getJacobian(){ return this->J;}
CMAT::Matrix Task::getActivation(){return this->A;}
CMAT::Matrix Task::getReference(){return this->reference;}
CMAT::Matrix Task::getError(){return this->error;}


int& Task::getFlag_W(){return this->flag_W;}
double& Task::getMu_W(){return this->mu_W;}
int& Task::getFlag_G(){return this->flag_G;}
double& Task::getMu_G(){return this->mu_G;}

void Task::setFlag_G(int v){this->flag_G = v;}
void Task::setFlag_W(int v){this->flag_W = v;}
void Task::setMu_G(double v){this->mu_G = v;}
void Task::setMu_W(double v){this->mu_W = v;}


int Task::getThreshold(){return this->threshold;}
int Task::getLambda(){return this->lambda;}
int Task::getDof(){return this->dof;}
int Task::getDimension(){return this->dimension;}


//int Task::writeLogs(){
//  if (logger == NULL){
//    return -1;
//  }

//  logger->writeActivation(A);
//  logger->writeReference(reference);
//  return 0;
//}