tpik::ReactiveTask Class Reference

#include <ReactiveTask.h>

Inheritance diagram for tpik::ReactiveTask:

Public Member Functions
	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
void	Update () 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
virtual void	UpdateReference ()
void	UpdateReferenceRate () override
void	UpdateJacobian () override
void	SaturateReferenceRate ()
virtual void	CheckInitialization () noexcept(false)

Protected Attributes
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_

Friends
std::ostream &	operator<< (std::ostream &os, ReactiveTask const &reactiveTask)

Constructor & Destructor Documentation

ReactiveTask()

tpik::ReactiveTask::ReactiveTask	(	const std::string	ID,
		int	taskSpace,
		int	DoF,
		tpik::TaskOption	taskOption
	)

~ReactiveTask()

tpik::ReactiveTask::~ReactiveTask ( )

override

Member Function Documentation

CheckInitialization()

virtual void tpik::ReactiveTask::CheckInitialization ( )

protectedvirtual

ConfigFromFile()

bool tpik::ReactiveTask::ConfigFromFile ( libconfig::Config &  confObj )

overridevirtual

Implements tpik::Task.

ControlVariable()

auto tpik::ReactiveTask::ControlVariable ( ) const -> const Eigen::VectorXd&

inline

GreaterThanParams() [1/2]

auto tpik::ReactiveTask::GreaterThanParams ( ) -> tpik::BellShapedParameter&

inline

GreaterThanParams() [2/2]

auto tpik::ReactiveTask::GreaterThanParams ( ) const -> const BellShapedParameter&

inline

LessThanParams() [1/2]

auto tpik::ReactiveTask::LessThanParams ( ) -> tpik::BellShapedParameter&

inline

LessThanParams() [2/2]

auto tpik::ReactiveTask::LessThanParams ( ) const -> const BellShapedParameter&

inline

Reference() [1/2]

auto tpik::ReactiveTask::Reference ( ) -> Eigen::VectorXd&

inline

Reference() [2/2]

auto tpik::ReactiveTask::Reference ( ) const -> const Eigen::VectorXd&

inline

SaturateReferenceRate()

void tpik::ReactiveTask::SaturateReferenceRate ( )

protected

TaskParameter() [1/2]

auto tpik::ReactiveTask::TaskParameter ( ) -> TaskParameter&

inline

TaskParameter() [2/2]

auto tpik::ReactiveTask::TaskParameter ( ) const -> const struct TaskParameter&

inline

Type() [1/2]

auto tpik::ReactiveTask::Type ( ) -> TaskType&

inline

Type() [2/2]

auto tpik::ReactiveTask::Type ( ) const -> const TaskType&

inline

Update()

void tpik::ReactiveTask::Update ( )

overridevirtual

Reimplemented from tpik::Task.

Reimplemented in TestTask.

UpdateInternalActivationFunction()

void tpik::ReactiveTask::UpdateInternalActivationFunction ( )

overrideprotectedvirtual

Implements tpik::Task.

Reimplemented in TestTask.

UpdateJacobian()

void tpik::ReactiveTask::UpdateJacobian ( )

overrideprotectedvirtual

Implements tpik::Task.

Reimplemented in TestTask.

UpdateReference()

virtual void tpik::ReactiveTask::UpdateReference ( )

protectedvirtual

Reimplemented in TestTask.

UpdateReferenceRate()

void tpik::ReactiveTask::UpdateReferenceRate ( )

overrideprotectedvirtual

Implements tpik::Task.

Friends And Related Symbol Documentation

operator<<

std::ostream & operator<< ( std::ostream &  os, ReactiveTask const &  reactiveTask  )

friend

Member Data Documentation

AgreaterThan_

Eigen::MatrixXd tpik::ReactiveTask::AgreaterThan_

protected

AlessThan_

Eigen::MatrixXd tpik::ReactiveTask::AlessThan_

protected

decreasingBellShapeParameter_

BellShapedParameter tpik::ReactiveTask::decreasingBellShapeParameter_

protected

increasingBellShapeParameter_

BellShapedParameter tpik::ReactiveTask::increasingBellShapeParameter_

protected

initializedTaskParameter_

bool tpik::ReactiveTask::initializedTaskParameter_

protected

isGreaterThanParamsInizialized_

bool tpik::ReactiveTask::isGreaterThanParamsInizialized_

protected

isLessThanParamsInizialized_

bool tpik::ReactiveTask::isLessThanParamsInizialized_

protected

isTaskTypeSet_

bool tpik::ReactiveTask::isTaskTypeSet_

protected

saturateRaferenceRateComponentWise_

bool tpik::ReactiveTask::saturateRaferenceRateComponentWise_

protected

taskOption_

TaskOption tpik::ReactiveTask::taskOption_

protected

taskParameter_

struct TaskParameter tpik::ReactiveTask::taskParameter_

protected

taskType_

TaskType tpik::ReactiveTask::taskType_

protected

x_

Eigen::VectorXd tpik::ReactiveTask::x_

protected

x_bar_

Eigen::VectorXd tpik::ReactiveTask::x_bar_

protected

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

• ReactiveTask.h