MipTasks::AntiSimmetryTask Class Reference
[AntiSimmetry Task]
Task for the execution of an anti simmetry control law for a MultiRobot system.
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#include <AntiSimmetryTask.h>
Inheritance diagram for MipTasks::AntiSimmetryTask:
Public Member Functions | |
| AntiSimmetryTask (ResourcePointers resources, int argc, const char *argv[]) | |
| Constructor. | |
| ~AntiSimmetryTask () | |
| Destructor. | |
| TaskPlate | getPlate () const |
| Gets task plate (mandatory). | |
| Time | getMaxDuration () |
| Gets maxDuration, maximum allowed duration for a single call to the run function. | |
| Time | getMaxSamplPeriod () |
| Gets maxSamplPeriod, maximum allowed time period between two calls of a run. | |
| Time | getMinSamplPeriod () |
| Gets minSamplPeriod, minimum allowed time period between two calls of a run. | |
| TaskOutputs | run () |
| Run function. | |
Detailed Description
Task for the execution of an anti simmetry control law for a MultiRobot system.
Constructor & Destructor Documentation
| MipTasks::AntiSimmetryTask::AntiSimmetryTask | ( | ResourcePointers | resources, | |
| int | argc, | |||
| const char * | argv[] | |||
| ) |
Constructor.
| MipTasks::AntiSimmetryTask::~AntiSimmetryTask | ( | ) |
Destructor.
Member Function Documentation
| TaskPlate MipTasks::AntiSimmetryTask::getPlate | ( | ) | const [inline, virtual] |
Gets task plate (mandatory).
- Note:
- It must be defined for all implemented task.
Implements MipTasks::Task.
| Time MipTasks::AntiSimmetryTask::getMaxDuration | ( | ) | [inline, virtual] |
Gets maxDuration, maximum allowed duration for a single call to the run function.
- Note:
- It must be defined for all implemented task.
Implements MipTasks::Task.
| Time MipTasks::AntiSimmetryTask::getMaxSamplPeriod | ( | ) | [inline, virtual] |
Gets maxSamplPeriod, maximum allowed time period between two calls of a run.
- Note:
- It must be defined for all implemented task.
Implements MipTasks::Task.
| Time MipTasks::AntiSimmetryTask::getMinSamplPeriod | ( | ) | [inline, virtual] |
Gets minSamplPeriod, minimum allowed time period between two calls of a run.
- Note:
- It must be defined for all implemented task.
Implements MipTasks::Task.
| TaskOutputs MipTasks::AntiSimmetryTask::run | ( | void | ) | [virtual] |
Run function.
- Note:
- It must be defined for all implemented task. The run function contains the real core of the task, since after the phase of the initialization of mip, the scheduler continuously executes the run run functions of the instantiated tasks. The run function must be implemented as a finite state machine. In this control, we have defined a two state machine: first step, and normal step.
Implements MipTasks::Task.
The documentation for this class was generated from the following files:
- tasks/AntiSimmetryTask/AntiSimmetryTask.h
- tasks/AntiSimmetryTask/AntiSimmetryTask.cpp
