#include <tvm/task_dynamics/abstract/TaskDynamicsImpl.h>

Inheritance diagram for tvm::task_dynamics::abstract::TaskDynamicsImpl:

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Collaboration diagram for tvm::task_dynamics::abstract::TaskDynamicsImpl:

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Public Member Functions
virtual	~TaskDynamicsImpl ()=default

const Eigen::VectorXd &	value () const

Order	order () const

virtual void	updateValue ()=0

template<typename T >
bool	checkType () const

Public Member Functions inherited from tvm::graph::internal::AbstractNode
template<typename EnumT >
bool	isUpdateEnabled (EnumT e) const

virtual bool	isUpdateStaticallyEnabled (int) const

virtual bool	isUpdateCustomEnabled (int) const

virtual	~AbstractNode ()=default

void	update (int i)

Public Member Functions inherited from tvm::graph::internal::Inputs
virtual	~Inputs ()=default

template<typename T , typename EnumI , typename... Args>
void	addInput (std::shared_ptr< T > source, EnumI i, Args... args)

template<typename T , typename EnumI , typename... Args, typename std::enable_if< std::is_base_of< abstract::Outputs, T >::value, int >::type = 0>
void	addInput (T &source, EnumI i, Args... args)

template<typename T >
void	removeInput (T *source)

template<typename T , typename... Args>
void	removeInput (T *source, Args... args)

template<typename T >
Iterator	getInput (T *source)

template<typename T >
Iterator	getInput (const std::shared_ptr< T > &source)

Public Member Functions inherited from tvm::graph::abstract::Outputs
virtual	~Outputs ()=default

template<typename EnumT >
bool	isOutputEnabled (EnumT e) const

bool	isOutputEnabled (int i) const

virtual bool	isOutputStaticallyEnabled (int) const

virtual bool	isOutputCustomEnabled (int) const

Protected Member Functions
	TaskDynamicsImpl (Order order, FunctionPtr f, constraint::Type t, const Eigen::VectorXd &rhs)

const function::abstract::Function &	function () const

constraint::Type	type () const

const Eigen::VectorXd &	rhs () const

Protected Member Functions inherited from tvm::graph::abstract::Node< TaskDynamicsImpl >
void	registerUpdates (EnumT u, void(U::*fn)(), Args... args)

void	registerUpdates (EnumT u, void(U::*fn)())

void	addOutputDependency (EnumO o, EnumU u)

void	addOutputDependency (std::initializer_list< EnumO > os, EnumU u)

void	addInternalDependency (EnumU1 uDependent, EnumU2 u)

void	addInputDependency (EnumU u, std::shared_ptr< S > source, EnumO i, Args... args)

void	addInputDependency (EnumU u, S &source, EnumO i, Args... args)

void	addDirectDependency (EnumO o, std::shared_ptr< S > source, EnumI i)

void	addDirectDependency (EnumO o, S &source, EnumI i)

Protected Attributes
Eigen::VectorXd	value_

Protected Attributes inherited from tvm::graph::internal::AbstractNode
std::map< int, std::function< void(AbstractNode &)> >	updates_

std::map< int, std::vector< int > >	outputDependencies_

std::map< int, std::vector< int > >	internalDependencies_

std::map< int, input_dependency_t >	inputDependencies_

std::map< int, std::pair< Outputs *, int > >	directDependencies_

Protected Attributes inherited from tvm::graph::abstract::Outputs
bool	is_node_ = false

Additional Inherited Members
Public Types inherited from tvm::graph::internal::AbstractNode
enum class	Update_

using	UpdateParent = AbstractNode

using	UpdateBase = AbstractNode

Public Types inherited from tvm::graph::internal::Inputs
using	inputs_t = std::unordered_map< abstract::Outputs *, std::set< int > >

using	store_t = std::unordered_set< std::shared_ptr< abstract::Outputs > >

Public Types inherited from tvm::graph::abstract::Outputs
enum class	Output_

using	OutputParent = Outputs

using	OutputBase = Outputs

Static Public Member Functions inherited from tvm::graph::internal::AbstractNode
static constexpr const char *	UpdateName (Update_)

template<typename EnumT >
static constexpr bool	UpdateStaticallyEnabled (EnumT)

Static Public Member Functions inherited from tvm::graph::abstract::Outputs
static constexpr const char *	OutputName (Output_)

template<typename EnumT >
static constexpr bool	OutputStaticallyEnabled (EnumT)

Static Public Attributes inherited from tvm::graph::internal::AbstractNode
static constexpr unsigned int	UpdateSize = 0

static constexpr auto	UpdateBaseName = "AbstractNode"

Static Public Attributes inherited from tvm::graph::abstract::Outputs
static constexpr unsigned int	OutputSize = 0

static constexpr auto	OutputBaseName = "Outputs"

Protected Types inherited from tvm::graph::internal::AbstractNode
using	input_dependency_t = std::map< Outputs *, std::set< int > >

Detailed Description

Base class for the implementation of a task dynamics

Constructor & Destructor Documentation

◆ ~TaskDynamicsImpl()

virtual tvm::task_dynamics::abstract::TaskDynamicsImpl::~TaskDynamicsImpl ( )

virtualdefault

◆ TaskDynamicsImpl()

tvm::task_dynamics::abstract::TaskDynamicsImpl::TaskDynamicsImpl	(	Order	order,
		FunctionPtr	f,
		constraint::Type	t,
		const Eigen::VectorXd &	rhs
	)

protected

Member Function Documentation

◆ checkType()

template<typename T >

bool tvm::task_dynamics::abstract::TaskDynamicsImpl::checkType

inline

Check if this is an instance of T::Impl

◆ function()

const function::abstract::Function & tvm::task_dynamics::abstract::TaskDynamicsImpl::function ( ) const

inlineprotected

Access to the task function.

◆ order()

Order tvm::task_dynamics::abstract::TaskDynamicsImpl::order ( ) const

inline

◆ rhs()

const Eigen::VectorXd & tvm::task_dynamics::abstract::TaskDynamicsImpl::rhs ( ) const

inlineprotected

Access to the task right hand side.

◆ type()

constraint::Type tvm::task_dynamics::abstract::TaskDynamicsImpl::type ( ) const

inlineprotected

Access to the task operator.

◆ updateValue()

virtual void tvm::task_dynamics::abstract::TaskDynamicsImpl::updateValue ( )

pure virtual

Implemented in tvm::task_dynamics::VelocityDamper::Impl, tvm::task_dynamics::Reference::Impl, tvm::task_dynamics::ProportionalDerivative::Impl, tvm::task_dynamics::Proportional::Impl, tvm::task_dynamics::OneStepToZero::Impl, tvm::task_dynamics::None::Impl, and tvm::task_dynamics::Constant::Impl.

◆ value()

const Eigen::VectorXd & tvm::task_dynamics::abstract::TaskDynamicsImpl::value ( ) const

inline

Member Data Documentation

◆ value_

Eigen::VectorXd tvm::task_dynamics::abstract::TaskDynamicsImpl::value_

protected

Cache to store the results of updateValue()

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

include/tvm/task_dynamics/abstract/TaskDynamicsImpl.h

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ~TaskDynamicsImpl()

◆ TaskDynamicsImpl()

Member Function Documentation

◆ checkType()

◆ function()

◆ order()

◆ rhs()

◆ type()

◆ updateValue()

◆ value()

Member Data Documentation

◆ value_