10 #ifndef __SOT_TASK_H__
11 #define __SOT_TASK_H__
18 #include <dynamic-graph/linear-algebra.h>
35 #if defined task_EXPORTS
36 #define SOTTASK_EXPORT __declspec(dllexport)
38 #define SOTTASK_EXPORT __declspec(dllimport)
41 #define SOTTASK_EXPORT
81 DYNAMIC_GRAPH_ENTITY_DECL();
84 Task(
const std::string &n);
85 void initCommands(
void);
88 void addFeatureFromName(
const std::string &name);
89 void clearFeatureList(
void);
92 void setControlSelection(
const Flags &act);
93 void addControlSelection(
const Flags &act);
94 void clearControlSelection(
void);
96 void setWithDerivative(
const bool &s);
97 bool getWithDerivative(
void);
100 dynamicgraph::Vector &computeError(dynamicgraph::Vector &error,
int time);
103 dynamicgraph::Matrix &computeJacobian(dynamicgraph::Matrix &J,
int time);
104 dynamicgraph::Vector &computeErrorTimeDerivative(dynamicgraph::Vector &res,
112 dynamicgraph::SignalTimeDependent<dynamicgraph::Vector, int>
errorSOUT;
113 dynamicgraph::SignalTimeDependent<dynamicgraph::Vector, int>
117 void display(std::ostream &os)
const;
120 virtual std::ostream &writeGraph(std::ostream &os)
const;