tpik::NonReactiveTask Class Reference

#include <NonReactiveTask.h>

Inheritance diagram for tpik::NonReactiveTask:

Public Member Functions
	NonReactiveTask (const std::string ID, int taskSpace, int DoF)
	~NonReactiveTask () override
auto	TaskParameter () -> TaskParameter &
auto	TaskParameter () const -> const struct TaskParameter &
auto	SaturateReferenceRateComponentWise () -> bool &
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 &
virtual void	Update ()

Protected Member Functions
virtual void	CheckInitialization () noexcept(false)
void	UpdateInternalActivationFunction () override
void	UpdateReferenceRate () override
void	SaturateReferenceRate ()
Protected Member Functions inherited from tpik::Task
virtual void	UpdateJacobian ()=0

Protected Attributes
bool	initializedTaskParameter_
struct TaskParameter	taskParameter_
bool	saturateRaferenceRateComponentWise_
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, NonReactiveTask const &nonReactive)

Constructor & Destructor Documentation

NonReactiveTask()

tpik::NonReactiveTask::NonReactiveTask	(	const std::string	ID,
		int	taskSpace,
		int	DoF
	)

~NonReactiveTask()

tpik::NonReactiveTask::~NonReactiveTask ( )

override

Member Function Documentation

CheckInitialization()

virtual void tpik::NonReactiveTask::CheckInitialization ( )

protectedvirtual

ConfigFromFile()

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

overridevirtual

Implements tpik::Task.

SaturateReferenceRate()

void tpik::NonReactiveTask::SaturateReferenceRate ( )

protected

SaturateReferenceRateComponentWise()

auto tpik::NonReactiveTask::SaturateReferenceRateComponentWise ( ) -> bool&

inline

TaskParameter() [1/2]

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

inline

TaskParameter() [2/2]

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

inline

UpdateInternalActivationFunction()

void tpik::NonReactiveTask::UpdateInternalActivationFunction ( )

overrideprotectedvirtual

Implements tpik::Task.

UpdateReferenceRate()

void tpik::NonReactiveTask::UpdateReferenceRate ( )

overrideprotectedvirtual

Implements tpik::Task.

Friends And Related Symbol Documentation

operator<<

std::ostream & operator<< ( std::ostream &  os, NonReactiveTask const &  nonReactive  )

friend

Member Data Documentation

initializedTaskParameter_

bool tpik::NonReactiveTask::initializedTaskParameter_

protected

saturateRaferenceRateComponentWise_

bool tpik::NonReactiveTask::saturateRaferenceRateComponentWise_

protected

taskParameter_

struct TaskParameter tpik::NonReactiveTask::taskParameter_

protected

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

• NonReactiveTask.h