mc_tasks::SmoothTask< objT > Struct Template Reference

SmoothTask allows to smoothly reach a final weight and objective for a given task. More...

#include <mc_tasks/SmoothTask.h>

Public Types
typedef std::function< void(double)>	w_set_fn
	A function to set the weight of the task. More...
typedef std::function< double(void)>	w_get_fn
	A function to get the current weight of the task. More...
typedef std::function< void(const objT &)>	obj_set_fn
	A function to set the objective of a task. More...
typedef std::function< const objT(void)>	obj_get_fn
	A function to get the objective of a task. More...

Public Member Functions
	SmoothTask (w_set_fn w_set, w_get_fn w_get, obj_set_fn obj_set, obj_get_fn obj_get, double weight, const objT &obj, double percent)
	Constructor. More...
void	update ()
	Update the task. More...
void	reset (double weight, const objT &obj, double percent)
	Reset the target weight, target objective and interpolation step. More...

Public Attributes
w_set_fn	w_set
w_get_fn	w_get
obj_set_fn	obj_set
obj_get_fn	obj_get
double	weight
objT	obj
double	stepW
objT	stepO
unsigned int	nrIter
unsigned int	iter

Detailed Description

template<typename objT>
struct mc_tasks::SmoothTask< objT >

SmoothTask allows to smoothly reach a final weight and objective for a given task.

Template Parameters

objT	The type of the objective given to the task

Member Typedef Documentation

obj_get_fn

template<typename objT >

typedef std::function<const objT(void)> mc_tasks::SmoothTask< objT >::obj_get_fn

A function to get the objective of a task.

obj_set_fn

template<typename objT >

typedef std::function<void(const objT &)> mc_tasks::SmoothTask< objT >::obj_set_fn

A function to set the objective of a task.

w_get_fn

template<typename objT >

typedef std::function<double(void)> mc_tasks::SmoothTask< objT >::w_get_fn

A function to get the current weight of the task.

w_set_fn

template<typename objT >

typedef std::function<void(double)> mc_tasks::SmoothTask< objT >::w_set_fn

A function to set the weight of the task.

Constructor & Destructor Documentation

SmoothTask()

template<typename objT >

mc_tasks::SmoothTask< objT >::SmoothTask	(	w_set_fn	w_set,
		w_get_fn	w_get,
		obj_set_fn	obj_set,
		obj_get_fn	obj_get,
		double	weight,
		const objT &	obj,
		double	percent
	)

Constructor.

Parameters

w_set	Weight setting function
w_get	Weight getting function
obj_set	Objective setting function
obj_get	Objective getting function
weight	The target weight
obj	The target objective
percent	The interpolation speed as a percentage (step-size, 1 is instantaneous, 0 stop the smooth task process)

Member Function Documentation

reset()

template<typename objT >

void mc_tasks::SmoothTask< objT >::reset	(	double	weight,
		const objT &	obj,
		double	percent
	)

Reset the target weight, target objective and interpolation step.

Parameters

weight	New target weight
obj	New objective
percent	The interpolation speed as a percentage (step-size, 1 is instantaneous, 0 stop the smooth task process)

update()

template<typename objT >

void mc_tasks::SmoothTask< objT >::update

Update the task.

This will move the weight to the target weight and the objective to the target objective

Member Data Documentation

iter

template<typename objT >

unsigned int mc_tasks::SmoothTask< objT >::iter

nrIter

template<typename objT >

unsigned int mc_tasks::SmoothTask< objT >::nrIter

obj

template<typename objT >

objT mc_tasks::SmoothTask< objT >::obj

obj_get

template<typename objT >

obj_get_fn mc_tasks::SmoothTask< objT >::obj_get

obj_set

template<typename objT >

obj_set_fn mc_tasks::SmoothTask< objT >::obj_set

stepO

template<typename objT >

objT mc_tasks::SmoothTask< objT >::stepO

stepW

template<typename objT >

double mc_tasks::SmoothTask< objT >::stepW

w_get

template<typename objT >

w_get_fn mc_tasks::SmoothTask< objT >::w_get

w_set

template<typename objT >

w_set_fn mc_tasks::SmoothTask< objT >::w_set

weight

template<typename objT >

double mc_tasks::SmoothTask< objT >::weight

---

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

• include/mc_tasks/SmoothTask.h