Qontrol::Task::TaskSet< output > Class Template Reference

Handle all the tasks added to the problem. More...

#include <TaskSet.hpp>

Public Member Functions
	TaskSet (std::shared_ptr< Model::GenericModel > model_library)
std::shared_ptr< Task::GenericTask >	add (std::string task_name, int task_dimension, double task_weight=1.0)
	Add a custom task to the task set. More...
std::shared_ptr< Task::GenericTask >	add (std::string task_name, int task_dimension, int optim_vector_dimension, double task_weight=1.0)
template<template< Qontrol::ControlOutput output2 > class ControlInput>
std::shared_ptr< ControlInput< output > >	add (std::string task_name, double task_weight=1.0)
	Add an implemented task in the task set. More...
bool	exist (std::string task_name)
	Check if a task exists in the task set. More...
void	getNames ()
	Get the names of all the tasks ordered in their declaration order. More...
void	update (double dt)
	Call the update function of all the tasks in the task set. More...
std::vector< std::shared_ptr< Task::GenericTask > >	getTasks ()
	Get all the tasks. More...
std::vector< double >	getTasksWeight ()
	Get the relative weight of all the tasks in the task set ordered in their declaration order. More...
int	getTaskIndex (std::string task_name)
	Get the index of a task in the task set. More...
void	remove (std::shared_ptr< Task::GenericTask > task_ptr)
	Remove a task from the task set. More...
void	remove (std::string task_name)
	Remove a task from the task set. More...
bool	setTaskWeight (std::shared_ptr< Task::GenericTask > task, double task_weight)
	Set a task weight relatively to all the tasks in the task set. More...
bool	setTaskWeight (std::string task_name, double task_weight)
	Set a task weight relatively to all the tasks in the task set. More...

Protected Attributes
std::shared_ptr< Model::GenericModel >	model_ptr_
std::vector< std::string >	tasks_names_

Detailed Description

template<Qontrol::ControlOutput output>
class Qontrol::Task::TaskSet< output >

Handle all the tasks added to the problem.

Template Parameters

output

The tasks control output

Member Function Documentation

add() [1/2]

template<Qontrol::ControlOutput output>

template<template< Qontrol::ControlOutput output2 > class ControlInput>

std::shared_ptr<ControlInput<output> > Qontrol::Task::TaskSet< output >::add ( std::string  task_name, double  task_weight = 1.0  )

inline

Add an implemented task in the task set.

Template Parameters

ControlInput

The input type of the task

Parameters

task_name	The name of the task
task_weight	The relative weight of the task

Returns

std::shared_ptr<ControlInput<output>> The pointer to the task

add() [2/2]

template<Qontrol::ControlOutput output>

std::shared_ptr<Task::GenericTask> Qontrol::Task::TaskSet< output >::add ( std::string  task_name, int  task_dimension, double  task_weight = 1.0  )

inline

Add a custom task to the task set.

Parameters

task_name	The name of the task
task_dimension	The dimension of the task
task_weight	The relative weight of the task

Returns

std::shared_ptr<Task::GenericTask> The pointer to the task

exist()

template<Qontrol::ControlOutput output>

bool Qontrol::Task::TaskSet< output >::exist ( std::string  task_name )

inline

Check if a task exists in the task set.

Parameters

task_name

getNames()

template<Qontrol::ControlOutput output>

void Qontrol::Task::TaskSet< output >::getNames ( )

inline

Get the names of all the tasks ordered in their declaration order.

getTaskIndex()

template<Qontrol::ControlOutput output>

int Qontrol::Task::TaskSet< output >::getTaskIndex ( std::string  task_name )

inline

Get the index of a task in the task set.

Parameters

task_name

Returns

int

getTasks()

template<Qontrol::ControlOutput output>

std::vector<std::shared_ptr<Task::GenericTask> > Qontrol::Task::TaskSet< output >::getTasks ( )

inline

Get all the tasks.

Returns

std::vector<std::shared_ptr<Task::GenericTask>>

getTasksWeight()

template<Qontrol::ControlOutput output>

std::vector<double> Qontrol::Task::TaskSet< output >::getTasksWeight ( )

inline

Get the relative weight of all the tasks in the task set ordered in their declaration order.

Returns

std::vector<double>

remove() [1/2]

template<Qontrol::ControlOutput output>

void Qontrol::Task::TaskSet< output >::remove ( std::shared_ptr< Task::GenericTask >  task_ptr )

inline

Remove a task from the task set.

Parameters

task_ptr

remove() [2/2]

template<Qontrol::ControlOutput output>

void Qontrol::Task::TaskSet< output >::remove ( std::string  task_name )

inline

Remove a task from the task set.

Parameters

task_ptr

setTaskWeight() [1/2]

template<Qontrol::ControlOutput output>

bool Qontrol::Task::TaskSet< output >::setTaskWeight ( std::shared_ptr< Task::GenericTask >  task, double  task_weight  )

inline

Set a task weight relatively to all the tasks in the task set.

Parameters

task	the considered task
task_weight	the weight of the task

setTaskWeight() [2/2]

template<Qontrol::ControlOutput output>

bool Qontrol::Task::TaskSet< output >::setTaskWeight ( std::string  task_name, double  task_weight  )

inline

Set a task weight relatively to all the tasks in the task set.

Parameters

task	the considered task name
task_weight	the weight of the task

update()

template<Qontrol::ControlOutput output>

void Qontrol::Task::TaskSet< output >::update ( double  dt )

inline

Call the update function of all the tasks in the task set.

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

• include/Qontrol/Tasks/TaskSet.hpp