LinearTask class. More...

#include <LinearTask.h>

Inheritance diagram for ocra::LinearTask:

Collaboration diagram for ocra::LinearTask:

Public Types
typedef LinearFunction	functionType_t

Public Types inherited from ocra::LinearFunction
typedef Function	functionType_t

Public Member Functions
	LinearTask (Function &f, Function &L)

	~LinearTask ()

Function &	getL ()

const Function &	getL () const

Function &	getf ()

const Function &	getf () const

Public Member Functions inherited from ocra::LinearFunction
template<class Derived , class VectorBase >
	LinearFunction (Variable &x, const MatrixBase< Derived > &A, const VectorBase &b)

	~LinearFunction ()

void	invalidateb (int timestamp)

const MatrixXd &	getA () const

const VectorXd &	getb () const

void	changeA (const MatrixXd &A)

void	changeb (const VectorXd &b)

Public Member Functions inherited from ocra::Function
virtual	~Function ()

int	getDimension () const

virtual void	updateFdot () const

virtual void	updateFddot () const

virtual void	updateJdotXdot () const

const Variable &	getVariable () const

Variable &	getVariable ()

template<eFunctionAbility Ability>
void	invalidate ()

void	invalidateAll (int timestamp)

void	invalidateAll ()

template<eFunctionAbility Ability>
bool	isValid () const

template<eFunctionAbility Ability>
bool	canCompute () const

template<eFunctionAbility Ability>
const IFunction< Ability >::return_type &	get () const

template<eFunctionAbility Ability>
IFunction< Ability >::return_sub_type	get (int index) const

const VectorXd &	getValue () const

double	getValue (int index) const

const MatrixXd &	getJacobian () const

MatrixXdRow	getJacobian (int index) const

Public Member Functions inherited from ocra::ObserverSubject
	ObserverSubject ()

virtual	~ObserverSubject ()

Public Member Functions inherited from ocra::Observer
virtual	~Observer ()

template<int EVT>
void	bind (SubjectBase< EVT > &subject)
	Call this method to automatically propagate observed events to observers connected to the subject given in argument. More...

template<int EVT>
void	stopPropagation ()

Public Member Functions inherited from ocra::ObserverBase< EVT_RESIZE >
void	bind (subject_type &subject)
	Call this method to automatically propagate observed events to observers connected to the subject given in argument. More...

Public Member Functions inherited from ocra::ObserverBase< EVT_CHANGE_DEPENDENCIES >
void	bind (subject_type &subject)
	Call this method to automatically propagate observed events to observers connected to the subject given in argument. More...

Public Member Functions inherited from ocra::ObserverBase< EVT_CHANGE_VALUE >
void	bind (subject_type &subject)
	Call this method to automatically propagate observed events to observers connected to the subject given in argument. More...

Public Member Functions inherited from ocra::Subject
virtual	~Subject ()

template<int EVT, class Derived , class Base >
void	connect (Derived &object, void(Base::*newCallback)(int)) const
	Call this method to register a non-static method as a callback. More...

template<int EVT>
void	connect (void(*newCallback)(int)) const
	Call this method to register a free function as a callback. More...

template<int EVT, class Derived , class Base >
void	disconnect (Derived &object, void(Base::*callbackToErase)(int)) const
	Disconnect non-static method. More...

template<int EVT>
void	disconnect (void(*callbackToErase)(int)) const
	Disconnect free function. More...

template<int EVT>
void	propagate () const

template<int EVT>
void	propagate (int timestamp) const

Public Member Functions inherited from ocra::SubjectBase< EVT_RESIZE >
void	connect (T &object, typename SubjectBaseTraits< EVT, T >::callback_type newCallback) const
	Call this method to register a non-static method as a callback. More...

void	connect (typename SubjectBaseTraits< EVT, void >::callback_type newCallback) const
	Call this method to register a free function as a callback. More...

void	disconnect (T &object, typename SubjectBaseTraits< EVT, T >::callback_type callback) const
	Disconnect non-static method. More...

void	disconnect (typename SubjectBaseTraits< EVT, void >::callback_type callbackToErase) const
	Disconnect free function. More...

void	propagate (int timestamp) const

void	propagate () const

Public Member Functions inherited from ocra::SubjectBase< EVT_CHANGE_DEPENDENCIES >
void	connect (T &object, typename SubjectBaseTraits< EVT, T >::callback_type newCallback) const
	Call this method to register a non-static method as a callback. More...

void	connect (typename SubjectBaseTraits< EVT, void >::callback_type newCallback) const
	Call this method to register a free function as a callback. More...

void	disconnect (T &object, typename SubjectBaseTraits< EVT, T >::callback_type callback) const
	Disconnect non-static method. More...

void	disconnect (typename SubjectBaseTraits< EVT, void >::callback_type callbackToErase) const
	Disconnect free function. More...

void	propagate (int timestamp) const

void	propagate () const

Public Member Functions inherited from ocra::SubjectBase< EVT_CHANGE_VALUE >
void	connect (T &object, typename SubjectBaseTraits< EVT, T >::callback_type newCallback) const
	Call this method to register a non-static method as a callback. More...

void	connect (typename SubjectBaseTraits< EVT, void >::callback_type newCallback) const
	Call this method to register a free function as a callback. More...

void	disconnect (T &object, typename SubjectBaseTraits< EVT, T >::callback_type callback) const
	Disconnect non-static method. More...

void	disconnect (typename SubjectBaseTraits< EVT, void >::callback_type callbackToErase) const
	Disconnect free function. More...

void	propagate (int timestamp) const

void	propagate () const

Public Member Functions inherited from ocra::IFunctionProperties
bool	hasSeparableTimeDependancy (void) const

eFunctionLinearity	getType (void) const

eFunctionConvexity	getConvexityProperty (void) const

int	getContinuityProperty (void) const

const std::string &	getProperty (int i) const

int	getNumberOfProperties (void) const

bool	hasProperty (const std::string &functionProperty) const

bool	isExplicitlyTimeDependant (void) const

Public Member Functions inherited from ocra::NamedInstance
	NamedInstance (const std::string &name)

const std::string &	getName () const

virtual	~NamedInstance ()

Public Member Functions inherited from ocra::AbilitySet
AbilitySet &	add (eFunctionAbility prop)

AbilitySet &	remove (eFunctionAbility prop)

Static Public Member Functions
static LinearTask *	createEqualityTaskWithLinearLaw (Function *f, double weight)

static LinearTask *	createEqualityTaskWithLinearLaw (Function *f, const VectorXd &weight)

static LinearTask *	createInequalityTaskWithLinearLaw (Function *f, double weight, double fi)

static LinearTask *	createInequalityTaskWithLinearLaw (Function *f, const VectorXd &weight, real fi)

static LinearTask *	createInequalityTaskWithLinearLaw (Function *f, real weight, const VectorXd &fi)

static LinearTask *	createInequalityTaskWithLinearLaw (Function *f, const VectorXd &weight, const VectorXd &fi)

static LinearTask *	createInequalityTaskWithLinearLaw (Function *f, const VectorXd &weightDividedByFi)

Protected Member Functions
void	updateJacobian () const

void	updateb () const

void	doUpdateInputSizeBegin ()

void	doUpdateDimensionBegin (int newDimension)

void	doUpdateDimensionEnd (int oldDimension)

Protected Member Functions inherited from ocra::LinearFunction
	LinearFunction (Variable &x, int dimension)

virtual void	doUpdateInputSizeEnd ()

virtual void	updateValue () const

virtual void	doChangeA (const MatrixXd &A)

virtual void	doChangeb (const VectorXd &b)

void	inhibitPropagationFromb () const

void	desinhibitPropagationFromb () const

Protected Member Functions inherited from ocra::Function
	Function (Variable &x, int dimension, eFunctionLinearity linearity=LINEARITY_UNDEFINED, eFunctionConvexity convexity=CONVEXITY_UNDEFINED, int continuity=CONTINUITY_UNKNOWN, bool explicitlyTimeDependant=false, bool separableTimeDependancy=true)
	Function Constructor. More...

void	disconnectVariable ()

void	changeFunctionDimension (int newDimension)

void	updateInputSize (int timestamp)

void	resize ()

virtual int	computeDimensionFromInputSize () const

Protected Member Functions inherited from ocra::ObserverBase< EVT_RESIZE >
void	stopPropagation ()
	Call this method from your callbacks to avoid propagation to the bound subject (if any). More...

	ObserverBase ()

	~ObserverBase ()

Protected Member Functions inherited from ocra::ObserverBase< EVT_CHANGE_DEPENDENCIES >
void	stopPropagation ()
	Call this method from your callbacks to avoid propagation to the bound subject (if any). More...

	ObserverBase ()

	~ObserverBase ()

Protected Member Functions inherited from ocra::ObserverBase< EVT_CHANGE_VALUE >
void	stopPropagation ()
	Call this method from your callbacks to avoid propagation to the bound subject (if any). More...

	ObserverBase ()

	~ObserverBase ()

Protected Member Functions inherited from ocra::SubjectBase< EVT_RESIZE >
	SubjectBase ()

	~SubjectBase ()

Protected Member Functions inherited from ocra::SubjectBase< EVT_CHANGE_DEPENDENCIES >
	SubjectBase ()

	~SubjectBase ()

Protected Member Functions inherited from ocra::SubjectBase< EVT_CHANGE_VALUE >
	SubjectBase ()

	~SubjectBase ()

Protected Member Functions inherited from ocra::IFunctionProperties
	IFunctionProperties (eFunctionLinearity linearity=LINEARITY_UNDEFINED, eFunctionConvexity convexity=CONVEXITY_UNDEFINED, int continuity=CONTINUITY_UNKNOWN, bool explicitlyTimeDependant=false, bool separableTimeDependancy=true)
	IFunctionProperties Constructor. More...

void	changeType (eFunctionLinearity newType)

void	changeConvexityProperty (eFunctionConvexity newProperty)

void	changeContinuityProperty (int newProperty)

void	addProperty (const std::string &functionProperty)

void	removeProperty (const std::string &functionProperty)

void	changeExplicitTimeDependancy (bool b)

void	changeSeparableTimeDependancy (bool b)

Protected Member Functions inherited from ocra::AbilitySet
	AbilitySet (const std::vector< bool > &usageSet)

const std::vector< bool > &	getUsageSet () const

	AbilitySet (eFunctionAbility prop0=FUN_VALUE, eFunctionAbility prop1=FUN_VALUE)

	AbilitySet (eFunctionAbility prop0, eFunctionAbility prop1, eFunctionAbility prop2, eFunctionAbility prop3=FUN_VALUE, eFunctionAbility prop4=FUN_VALUE)

	AbilitySet (eFunctionAbility prop0, eFunctionAbility prop1, eFunctionAbility prop2, eFunctionAbility prop3, eFunctionAbility prop4, eFunctionAbility prop5, eFunctionAbility prop6=FUN_VALUE, eFunctionAbility prop7=FUN_VALUE, eFunctionAbility prop8=FUN_VALUE, eFunctionAbility prop9=FUN_VALUE)

Protected Member Functions inherited from ocra::CoupledInputOutputSize
	CoupledInputOutputSize (bool coupledInputOutputSize)

bool	inputAndOutputSizesAreCoupled () const

Protected Attributes
Function *	_f

Function *	_L

Protected Attributes inherited from ocra::LinearFunction
VectorXd	_b

bool	_bIsUpToDate

Protected Attributes inherited from ocra::Function
Variable &	x

VectorXd &	_value

MatrixXd &	_jacobian

const int &	_dim

Additional Inherited Members
Protected Types inherited from ocra::ObserverBase< EVT_RESIZE >
typedef SubjectBase< EVT >	subject_type

typedef InvokerBase< EVT >	invoker_type

Protected Types inherited from ocra::ObserverBase< EVT_CHANGE_DEPENDENCIES >
typedef SubjectBase< EVT >	subject_type

typedef InvokerBase< EVT >	invoker_type

Protected Types inherited from ocra::ObserverBase< EVT_CHANGE_VALUE >
typedef SubjectBase< EVT >	subject_type

typedef InvokerBase< EVT >	invoker_type

Detailed Description

LinearTask class.

Warning: None

Derives a derivable error function $ f $ on $ x $ into a linear function on $ x $ , $\frac{\partial f}{\partial x} \dot{x} + L(f(x))$ with $ L $ a function. Classical function $ L $ is $L(y) = \Lambda y$ with $\Lambda$ a diagonal matrix of gains.

Definition at line 37 of file LinearTask.h.

Member Typedef Documentation

typedef LinearFunction ocra::LinearTask::functionType_t

Definition at line 41 of file LinearTask.h.

Constructor & Destructor Documentation

ocra::LinearTask::LinearTask	(	Function &	f,
		Function &	L
	)

Definition at line 10 of file LinearTask.cpp.

ocra::LinearTask::~LinearTask ( )

Definition at line 31 of file LinearTask.cpp.

Member Function Documentation

LinearTask * ocra::LinearTask::createEqualityTaskWithLinearLaw	(	Function *	f,
		double	weight
	)

static

Definition at line 49 of file LinearTask.cpp.

LinearTask * ocra::LinearTask::createEqualityTaskWithLinearLaw	(	Function *	f,
		const VectorXd &	weight
	)

static

Definition at line 57 of file LinearTask.cpp.

LinearTask * ocra::LinearTask::createInequalityTaskWithLinearLaw	(	Function *	f,
		double	weight,
		double	fi
	)

static

Definition at line 66 of file LinearTask.cpp.

LinearTask * ocra::LinearTask::createInequalityTaskWithLinearLaw	(	Function *	f,
		const VectorXd &	weight,
		real	fi
	)

static

Definition at line 96 of file LinearTask.cpp.

LinearTask * ocra::LinearTask::createInequalityTaskWithLinearLaw	(	Function *	f,
		real	weight,
		const VectorXd &	fi
	)

static

Definition at line 85 of file LinearTask.cpp.

LinearTask * ocra::LinearTask::createInequalityTaskWithLinearLaw	(	Function *	f,
		const VectorXd &	weight,
		const VectorXd &	fi
	)

static

Definition at line 108 of file LinearTask.cpp.

LinearTask * ocra::LinearTask::createInequalityTaskWithLinearLaw	(	Function *	f,
		const VectorXd &	weightDividedByFi
	)

static

Definition at line 120 of file LinearTask.cpp.

void ocra::LinearTask::doUpdateDimensionBegin ( int newDimension )

protectedvirtual

Methods for pre and post update in case the dimension of the function has changed. Default implementation of doUpdateDimensionEnd does nothing, doUpdateDimensionBegin throws an exception. These methods might throw exceptions when overloaded. Furthermore, doUpdateDimensionEnd() must comply with the post condition of updateDimension(), i.e. let the values of each ability invalidated.

Reimplemented from ocra::Function.

Definition at line 142 of file LinearTask.cpp.

void ocra::LinearTask::doUpdateDimensionEnd ( int oldDimension )

protectedvirtual

Reimplemented from ocra::Function.

Definition at line 147 of file LinearTask.cpp.

void ocra::LinearTask::doUpdateInputSizeBegin ( )

protectedvirtual

Methods for pre and post update in case the variable size has changed. Default implementation of doUpdateInputSizeEnd does nothing, doUpdateInputSizeBegin throws an exception. These methods might throw exceptions when overloaded. Furthermore, doUpdateInputSizeEnd() must comply with the post condition of updateInputSize(), i.e. let the values of each ability invalidated.

Reimplemented from ocra::Function.

Definition at line 137 of file LinearTask.cpp.

Function & ocra::LinearTask::getf ( )

inline

Definition at line 109 of file LinearTask.h.

const Function & ocra::LinearTask::getf ( ) const

inline

Definition at line 104 of file LinearTask.h.

Function & ocra::LinearTask::getL ( )

inline

Definition at line 94 of file LinearTask.h.

const Function & ocra::LinearTask::getL ( ) const

inline

Definition at line 99 of file LinearTask.h.

void ocra::LinearTask::updateb ( ) const

protectedvirtual

Update the value of b. Does nothing in LinearFunction. It is provided so that derived class may overload it.

Reimplemented from ocra::LinearFunction.

Definition at line 39 of file LinearTask.cpp.

void ocra::LinearTask::updateJacobian ( ) const

protectedvirtual

Reimplemented from ocra::LinearFunction.

Definition at line 131 of file LinearTask.cpp.

Member Data Documentation

Function* ocra::LinearTask::_f

protected

Definition at line 89 of file LinearTask.h.

Function* ocra::LinearTask::_L

protected

Definition at line 90 of file LinearTask.h.

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

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation