TestTask Class Reference

#include <TestTask.h>

Inheritance diagram for TestTask:

Public Member Functions
	TestTask (const std::string ID)
	TestTask ()
	~TestTask ()
void	SetID (const std::string ID)
void	Update () override
void	SetGain (std::shared_ptr< Eigen::MatrixXd > gain)
Public Member Functions inherited from tpik::ReactiveTask
	ReactiveTask (const std::string ID, int taskSpace, int DoF, tpik::TaskOption taskOption)
	~ReactiveTask () override
auto	TaskParameter () -> TaskParameter &
auto	TaskParameter () const -> const struct TaskParameter &
auto	ControlVariable () const -> const Eigen::VectorXd &
auto	Type () -> TaskType &
auto	Type () const -> const TaskType &
auto	GreaterThanParams () -> tpik::BellShapedParameter &
auto	GreaterThanParams () const -> const BellShapedParameter &
auto	LessThanParams () -> tpik::BellShapedParameter &
auto	LessThanParams () const -> const BellShapedParameter &
auto	Reference () -> Eigen::VectorXd &
auto	Reference () const -> const Eigen::VectorXd &
bool	ConfigFromFile (libconfig::Config &confObj) noexcept(false) override
Public Member Functions inherited from tpik::Task
	Task (const std::string ID, int taskSpace, int dof)
virtual	~Task ()
auto	Jacobian () const -> const Eigen::MatrixXd &
auto	InternalActivationFunction () const -> const Eigen::MatrixXd &
auto	ExternalActivationFunction () -> Eigen::MatrixXd &
auto	ExternalActivationFunction () const -> const Eigen::MatrixXd &
auto	ReferenceRate () const -> const Eigen::VectorXd &
auto	DoF () const -> int
auto	TaskSpace () const -> int
auto	Enabled () const -> bool
auto	ID () const -> const std::string &

Protected Member Functions
void	UpdateInternalActivationFunction () override
void	UpdateJacobian () override
void	UpdateReference () override
Protected Member Functions inherited from tpik::ReactiveTask
void	UpdateReferenceRate () override
void	SaturateReferenceRate ()
virtual void	CheckInitialization () noexcept(false)

Additional Inherited Members
Protected Attributes inherited from tpik::ReactiveTask
Eigen::VectorXd	x_
Eigen::VectorXd	x_bar_
struct TaskParameter	taskParameter_
BellShapedParameter	increasingBellShapeParameter_
BellShapedParameter	decreasingBellShapeParameter_
TaskType	taskType_
bool	initializedTaskParameter_
bool	isLessThanParamsInizialized_
bool	isGreaterThanParamsInizialized_
bool	isTaskTypeSet_
TaskOption	taskOption_
bool	saturateRaferenceRateComponentWise_
Eigen::MatrixXd	AgreaterThan_
Eigen::MatrixXd	AlessThan_
Protected Attributes inherited from tpik::Task
std::string	ID_
Eigen::MatrixXd	Ai_
Eigen::MatrixXd	Aexternal_
Eigen::MatrixXd	J_
Eigen::VectorXd	x_dot_bar_
int	taskSpace_
bool	enabled_
int	dof_

Constructor & Destructor Documentation

TestTask() [1/2]

TestTask::TestTask

(

const std::string

ID

)

TestTask() [2/2]

TestTask::TestTask

(

)

~TestTask()

TestTask::~TestTask

(

)

Member Function Documentation

SetGain()

void TestTask::SetGain

(

std::shared_ptr< Eigen::MatrixXd >

gain

)

SetID()

void TestTask::SetID

(

const std::string

ID

)

Update()

void TestTask::Update ( )

overridevirtual

Reimplemented from tpik::ReactiveTask.

UpdateInternalActivationFunction()

void TestTask::UpdateInternalActivationFunction ( )

overrideprotectedvirtual

Reimplemented from tpik::ReactiveTask.

UpdateJacobian()

void TestTask::UpdateJacobian ( )

overrideprotectedvirtual

Reimplemented from tpik::ReactiveTask.

UpdateReference()

void TestTask::UpdateReference ( )

overrideprotectedvirtual

Reimplemented from tpik::ReactiveTask.

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

• TestTask.h