tpik::Task Class Reference

#include <Task.h>

Inheritance diagram for tpik::Task:

Public Member Functions
	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 &
virtual void	Update ()
virtual bool	ConfigFromFile (libconfig::Config &confObj) noexcept(false)=0

Protected Member Functions
virtual void	UpdateInternalActivationFunction ()=0
virtual void	UpdateReferenceRate ()=0
virtual void	UpdateJacobian ()=0

Protected Attributes
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, Task const &task)

Constructor & Destructor Documentation

Task()

tpik::Task::Task	(	const std::string	ID,
		int	taskSpace,
		int	dof
	)

~Task()

virtual tpik::Task::~Task ( )

virtual

Member Function Documentation

ConfigFromFile()

virtual bool tpik::Task::ConfigFromFile ( libconfig::Config &  confObj )

pure virtual

Implemented in tpik::NonReactiveTask, and tpik::ReactiveTask.

DoF()

auto tpik::Task::DoF ( ) const -> int

inline

Enabled()

auto tpik::Task::Enabled ( ) const -> bool

inline

ExternalActivationFunction() [1/2]

auto tpik::Task::ExternalActivationFunction ( ) -> Eigen::MatrixXd&

inline

ExternalActivationFunction() [2/2]

auto tpik::Task::ExternalActivationFunction ( ) const -> const Eigen::MatrixXd&

inline

ID()

auto tpik::Task::ID ( ) const -> const std::string&

inline

InternalActivationFunction()

auto tpik::Task::InternalActivationFunction ( ) const -> const Eigen::MatrixXd&

inline

Jacobian()

auto tpik::Task::Jacobian ( ) const -> const Eigen::MatrixXd&

inline

ReferenceRate()

auto tpik::Task::ReferenceRate ( ) const -> const Eigen::VectorXd&

inline

TaskSpace()

auto tpik::Task::TaskSpace ( ) const -> int

inline

Update()

virtual void tpik::Task::Update ( )

virtual

Reimplemented in TestTask, and tpik::ReactiveTask.

UpdateInternalActivationFunction()

virtual void tpik::Task::UpdateInternalActivationFunction ( )

protectedpure virtual

Implemented in TestTask, tpik::NonReactiveTask, and tpik::ReactiveTask.

UpdateJacobian()

virtual void tpik::Task::UpdateJacobian ( )

protectedpure virtual

Implemented in TestTask, and tpik::ReactiveTask.

UpdateReferenceRate()

virtual void tpik::Task::UpdateReferenceRate ( )

protectedpure virtual

Implemented in tpik::NonReactiveTask, and tpik::ReactiveTask.

Friends And Related Symbol Documentation

operator<<

std::ostream & operator<< ( std::ostream &  os, Task const &  task  )

friend

Member Data Documentation

Aexternal_

Eigen::MatrixXd tpik::Task::Aexternal_

protected

Ai_

Eigen::MatrixXd tpik::Task::Ai_

protected

dof_

int tpik::Task::dof_

protected

enabled_

bool tpik::Task::enabled_

protected

ID_

std::string tpik::Task::ID_

protected

J_

Eigen::MatrixXd tpik::Task::J_

protected

taskSpace_

int tpik::Task::taskSpace_

protected

x_dot_bar_

Eigen::VectorXd tpik::Task::x_dot_bar_

protected

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

• Task.h