humoto::WeightedSimpleTaskBaseMixin< t_Constraints > Class Template Reference

Detailed Description

template<class t_Constraints>
class humoto::WeightedSimpleTaskBaseMixin< t_Constraints >

simple task mixin – should be used in building general tasks

Template Parameters

t_Constraints

Base class representing simple constraints

Definition at line 386 of file task.h.

#include <task.h>

Inheritance diagram for humoto::WeightedSimpleTaskBaseMixin< t_Constraints >:

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

Protected Member Functions
	WeightedSimpleTaskBaseMixin (const std::string &description, const double gain=0.0)
	Constructor. More...
	~WeightedSimpleTaskBaseMixin ()
	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_

Friends
class	HierarchyLevel

Constructor & Destructor Documentation

~WeightedSimpleTaskBaseMixin()

template<class t_Constraints>

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

inlineprotected

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

Definition at line 407 of file task.h.

WeightedSimpleTaskBaseMixin()

template<class t_Constraints>

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

inlineprotected

Constructor.

Parameters

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

Definition at line 416 of file task.h.

Member Function Documentation

finalize()

template<class t_Constraints>

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

inlineprotected

Definition at line 428 of file task.h.

getGain()

template<class t_Constraints>

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

inline

Returns gain.

Returns

gain

Definition at line 464 of file task.h.

logTask()

template<class t_Constraints>

virtual void humoto::WeightedSimpleTaskBaseMixin< 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::TaskJointsReference< t_features >.

Definition at line 438 of file task.h.

setDefaults()

template<class t_Constraints>

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

inlineprotectedvirtual

Reimplemented in humoto::pepper_ik::TaskJointsReference< t_features >, and humoto::wpg04::TaskCoPPosition.

Definition at line 424 of file task.h.

setGain()

template<class t_Constraints>

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

inlinevirtual

Sets gain.

Parameters

[in]

gain

new gain

Definition at line 452 of file task.h.

Friends And Related Function Documentation

HierarchyLevel

template<class t_Constraints>

friend class HierarchyLevel

friend

Definition at line 390 of file task.h.

Member Data Documentation

gain_

template<class t_Constraints>

double humoto::WeightedSimpleTaskBaseMixin< t_Constraints >::gain_

protected

Definition at line 393 of file task.h.

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

• core/include/humoto/task.h