humoto::GeneralTaskBaseMixin< t_Constraints > Class Template Reference

Detailed Description

template<class t_Constraints>
class humoto::GeneralTaskBaseMixin< t_Constraints >

General task mixin – should be used in building general tasks.

Template Parameters

t_Constraints

Base class representing general constraints

Definition at line 298 of file task.h.

#include <task.h>

Inheritance diagram for humoto::GeneralTaskBaseMixin< t_Constraints >:

Public Member Functions
double	getGain () const
	Returns gain. More...
void	setGain (const double gain)
	Sets gain. More...

Protected Member Functions
	GeneralTaskBaseMixin (const std::string &description, const double gain=0.0)
	Constructor. More...
	~GeneralTaskBaseMixin ()
	Protected destructor: prevent destruction of the child classes through a base pointer. More...
void	finalize ()
virtual void	logTask (humoto::Logger &logger, const LogEntryName &parent=LogEntryName(), const std::string &name="task") const
	Log task. More...
virtual void	setDefaults ()

Protected Attributes
double	gain_

Constructor & Destructor Documentation

~GeneralTaskBaseMixin()

template<class t_Constraints>

humoto::GeneralTaskBaseMixin< t_Constraints >::~GeneralTaskBaseMixin ( )

inlineprotected

Protected destructor: prevent destruction of the child classes through a base pointer.

Definition at line 315 of file task.h.

GeneralTaskBaseMixin()

template<class t_Constraints>

humoto::GeneralTaskBaseMixin< t_Constraints >::GeneralTaskBaseMixin ( const std::string &  description, const double  gain = 0.0  )

inlineprotected

Constructor.

Parameters

[in]	description	description of the task
[in]	gain	gain

Definition at line 324 of file task.h.

Member Function Documentation

finalize()

template<class t_Constraints>

void humoto::GeneralTaskBaseMixin< t_Constraints >::finalize ( )

inlineprotected

Definition at line 337 of file task.h.

getGain()

template<class t_Constraints>

double humoto::GeneralTaskBaseMixin< t_Constraints >::getGain ( ) const

inline

Returns gain.

Returns

gain

Definition at line 373 of file task.h.

logTask()

template<class t_Constraints>

virtual void humoto::GeneralTaskBaseMixin< t_Constraints >::logTask ( humoto::Logger &  logger, const LogEntryName &  parent = LogEntryName(), const std::string &  name = "task"  ) const

inlineprotectedvirtual

Log task.

Parameters

[in,out]	logger	logger
[in]	parent	parent
[in]	name	name

Reimplemented in humoto::pepper_ik::TaskBaseCoMTrackingBase, humoto::pepper_ik::TaskBaseOrientationBase, humoto::pepper_ik::TaskTagOrientation< t_features >, humoto::pepper_ik::TaskTagPose3Dof< t_features >, humoto::pepper_ik::TaskTagAngularVelocity< t_features >, humoto::pepper_ik::TaskTagCompleteVelocity< t_features >, humoto::pepper_ik::TaskTagPose< t_features >, and humoto::pepper_ik::TaskBodyCoMTracking< t_features >.

Definition at line 347 of file task.h.

setDefaults()

template<class t_Constraints>

virtual void humoto::GeneralTaskBaseMixin< t_Constraints >::setDefaults ( )

inlineprotectedvirtual

Reimplemented in humoto::pepper_ik::TaskBaseCoMTrackingBase, humoto::pepper_ik::TaskBaseOrientationBase, humoto::pepper_ik::TaskTagOrientation< t_features >, humoto::pepper_ik::TaskTagPose3Dof< t_features >, humoto::pepper_ik::TaskTagAngularVelocity< t_features >, humoto::pepper_ik::TaskTagCompleteVelocity< t_features >, humoto::pepper_ik::TaskTagPose< t_features >, humoto::pepper_ik::TaskBodyCoMTracking< t_features >, humoto::wpg04::TaskCoMVelocity, humoto::wpg04::TaskCoPVelocity, and humoto::wpg04::TaskTerminalConstraint.

Definition at line 332 of file task.h.

setGain()

template<class t_Constraints>

void humoto::GeneralTaskBaseMixin< t_Constraints >::setGain ( const double  gain )

inline

Sets gain.

Parameters

[in]

gain

new gain

Definition at line 361 of file task.h.

Member Data Documentation

gain_

template<class t_Constraints>

double humoto::GeneralTaskBaseMixin< t_Constraints >::gain_

protected

Definition at line 301 of file task.h.

---

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

• core/include/humoto/task.h