sot-core
4.11.6
Hierarchical task solver plug-in for dynamic-graph.
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18 #include <dynamic-graph/linear-algebra.h>
24 #include <dynamic-graph/entity.h>
32 #ifndef SOTSOT_CORE_EXPORT
34 #if defined(sot_EXPORTS)
35 #define SOTSOT_CORE_EXPORT __declspec(dllexport)
37 #define SOTSOT_CORE_EXPORT __declspec(dllimport)
40 #define SOTSOT_CORE_EXPORT
63 virtual const std::string &
getClassName()
const {
return CLASS_NAME; }
102 Sot(
const std::string &name);
143 virtual void clear(
void);
150 virtual void defineNbDof(
const unsigned int &nbDof);
151 virtual const unsigned int &
getNbDof()
const {
return nbJoints; }
161 virtual dynamicgraph::Vector &computeControlLaw(dynamicgraph::Vector &control,
171 virtual void display(std::ostream &os)
const;
184 SignalPtr<dynamicgraph::Vector, int>
q0SIN;
200 virtual std::ostream &writeGraph(std::ostream &os)
const;
SignalPtr< dynamicgraph::Vector, int > q0SIN
Intrinsec velocity of the robot, that is used to initialized the recurence of the SOT (e....
Definition: sot.hh:184
SOT_CORE_EXPORT std::ostream & operator<<(std::ostream &os, const VectorMultiBound &v)
Definition: abstract-sot-external-interface.hh:17
std::vector< MultiBound > VectorMultiBound
Definition: multi-bound.hh:69
Definition: task-abstract.hh:48
~Sot(void)
Definition: sot.hh:103
This class implements the Stack of Task. It allows to deal with the priority of the controllers throu...
Definition: sot.hh:56
virtual const unsigned int & getNbDof() const
Definition: sot.hh:151
StackType stack
This field is a list of controllers managed by the stack of tasks.
Definition: sot.hh:71
virtual const StackType & tasks() const
Definition: sot.hh:109
double maxControlIncrementSquaredNorm
Maximum allowed squared norm of control increment. A task whose control increment is above this value...
Definition: sot.hh:87
std::list< TaskAbstract * > StackType
Defines a type for a list of tasks.
Definition: sot.hh:66
unsigned int nbJoints
Store the number of joints to be used in the command computed by the stack of tasks.
Definition: sot.hh:75
SignalPtr< double, int > inversionThresholdSIN
This signal allow to change the threshold for the damped pseudo-inverse on-line.
Definition: sot.hh:193
SignalPtr< dynamicgraph::Matrix, int > proj0SIN
A matrix K whose columns are a base of the desired velocity. In other words, where is the free para...
Definition: sot.hh:190
static const double INVERSION_THRESHOLD_DEFAULT
Threshold to compute the dumped pseudo inverse.
Definition: sot.hh:91
virtual const std::string & getClassName() const
Returns the name of this class.
Definition: sot.hh:63
#define SOTSOT_CORE_EXPORT
Definition: sot.hh:40
bool enablePostureTaskAcceleration
Option to disable the computation of the SVD for the last task if this task is a Task with a single F...
Definition: sot.hh:79
SignalTimeDependent< dynamicgraph::Vector, int > controlSOUT
Allow to get the result of the computed control law.
Definition: sot.hh:195
static const std::string CLASS_NAME
Specify the name of the class entity.
Definition: sot.hh:59