From 2ef72347f8420f8dd5238d3ebdaca5ae7d1b2a89 Mon Sep 17 00:00:00 2001
From: Mansard <nmansard@laas.fr>
Date: Tue, 30 Aug 2011 19:01:04 +0200
Subject: [PATCH] Added a command to apprehend eventual changes in the Jacobian
while estimating its derivative.
---
src/task-dyn-pd.cpp | 7 +++++++
src/task-dyn-pd.h | 3 +++
2 files changed, 10 insertions(+)
diff --git a/src/task-dyn-pd.cpp b/src/task-dyn-pd.cpp
index abb9d7e..9062a23 100644
--- a/src/task-dyn-pd.cpp
+++ b/src/task-dyn-pd.cpp
@@ -68,6 +68,10 @@ namespace dynamicgraph
signalRegistration( KvSIN << qdotSIN << dtSIN
<< errorDotSOUT << KvAutoSOUT
<< JdotSOUT << taskVectorSOUT );
+
+ addCommand("resetJacobianDerivative",
+ makeCommandVoid0(*this,&TaskDynPD::resetJacobianDerivative,
+ docCommandVoid0("Reset the memory of the numeric jacobian derivative.")));
}
@@ -149,6 +153,9 @@ namespace dynamicgraph
return Jdot;
}
+ void TaskDynPD::resetJacobianDerivative( void ) { previousJset = false; }
+
+
ml::Vector& TaskDynPD::
taskVectorSOUT_function( ml::Vector& taskV, int time )
{
diff --git a/src/task-dyn-pd.h b/src/task-dyn-pd.h
index 9463fa8..882645a 100644
--- a/src/task-dyn-pd.h
+++ b/src/task-dyn-pd.h
@@ -83,6 +83,9 @@ namespace dynamicgraph {
ml::Matrix previousJ;
bool previousJset;
+ public: /* COMMANDS */
+ void resetJacobianDerivative( void );
+
}; // class TaskDynPD
} // namespace dyninv
--
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