sot-core  4.11.6
Hierarchical task solver plug-in for dynamic-graph.
feature-vector3.hh
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1 /*
2  * Copyright 2010,
3  * François Bleibel,
4  * Olivier Stasse,
5  *
6  * CNRS/AIST
7  *
8  */
9 
10 #ifndef __SOT_FEATURE_VECTOR3_HH__
11 #define __SOT_FEATURE_VECTOR3_HH__
12 
13 /* --------------------------------------------------------------------- */
14 /* --- INCLUDE --------------------------------------------------------- */
15 /* --------------------------------------------------------------------- */
16 
17 /* SOT */
21 
22 /* --------------------------------------------------------------------- */
23 /* --- API ------------------------------------------------------------- */
24 /* --------------------------------------------------------------------- */
25 
26 #if defined(WIN32)
27 #if defined(feature_vector3_EXPORTS)
28 #define SOTFEATUREVECTOR3_EXPORT __declspec(dllexport)
29 #else
30 #define SOTFEATUREVECTOR3_EXPORT __declspec(dllimport)
31 #endif
32 #else
33 #define SOTFEATUREVECTOR3_EXPORT
34 #endif
35 
36 /* --------------------------------------------------------------------- */
37 /* --- CLASS ----------------------------------------------------------- */
38 /* --------------------------------------------------------------------- */
39 
40 namespace dynamicgraph {
41 namespace sot {
42 
48 
49 public:
50  static const std::string CLASS_NAME;
51  virtual const std::string &getClassName(void) const { return CLASS_NAME; }
52 
54 
55 protected:
56  /* --- SIGNALS ------------------------------------------------------------ */
57 public:
58  dynamicgraph::SignalPtr<dynamicgraph::Vector, int> vectorSIN;
59  dynamicgraph::SignalPtr<MatrixHomogeneous, int> positionSIN;
60  dynamicgraph::SignalPtr<dynamicgraph::Matrix, int> articularJacobianSIN;
61  dynamicgraph::SignalPtr<dynamicgraph::Vector, int> positionRefSIN;
62 
66 
67 public:
68  FeatureVector3(const std::string &name);
69  virtual ~FeatureVector3(void) {}
70 
71  virtual unsigned int &getDimension(unsigned int &dim, int time);
72 
73  virtual dynamicgraph::Vector &computeError(dynamicgraph::Vector &res,
74  int time);
75  virtual dynamicgraph::Matrix &computeJacobian(dynamicgraph::Matrix &res,
76  int time);
77 
78  virtual void display(std::ostream &os) const;
79 };
80 
81 } /* namespace sot */
82 } /* namespace dynamicgraph */
83 
84 #endif // #ifndef __SOT_FEATURE_VECTOR3_HH__
85 
86 /*
87  * Local variables:
88  * c-basic-offset: 2
89  * End:
90  */
dynamicgraph::sot::FeatureVector3
Class that defines point-3d control feature.
Definition: feature-vector3.hh:47
dynamicgraph::sot::FeatureAbstract::jacobianSOUT
SignalTimeDependent< dynamicgraph::Matrix, int > jacobianSOUT
Jacobian of the error wrt the robot state: .
Definition: feature-abstract.hh:192
dynamicgraph::sot::FeatureVector3::getClassName
virtual const std::string & getClassName(void) const
Returns the name class.
Definition: feature-vector3.hh:51
dynamicgraph::sot::FeatureAbstract::errorSOUT
SignalTimeDependent< dynamicgraph::Vector, int > errorSOUT
This signal returns the error between the desired value and the current value : .
Definition: feature-abstract.hh:184
dynamicgraph::sot::FeatureVector3::CLASS_NAME
static const std::string CLASS_NAME
Definition: feature-vector3.hh:50
dynamicgraph::sot::FeatureVector3::articularJacobianSIN
dynamicgraph::SignalPtr< dynamicgraph::Matrix, int > articularJacobianSIN
Definition: feature-vector3.hh:60
dynamicgraph
Definition: abstract-sot-external-interface.hh:17
dynamicgraph::sot::FeatureVector3::positionRefSIN
dynamicgraph::SignalPtr< dynamicgraph::Vector, int > positionRefSIN
Definition: feature-vector3.hh:61
feature-abstract.hh
dynamicgraph::sot::FeatureAbstract
This class gives the abstract definition of a feature.
Definition: feature-abstract.hh:75
dynamicgraph::sot::FeatureVector3::~FeatureVector3
virtual ~FeatureVector3(void)
Definition: feature-vector3.hh:69
dynamicgraph::sot::FeatureVector3::vectorSIN
dynamicgraph::SignalPtr< dynamicgraph::Vector, int > vectorSIN
Definition: feature-vector3.hh:58
dynamicgraph::sot::FeatureVector3::positionSIN
dynamicgraph::SignalPtr< MatrixHomogeneous, int > positionSIN
Definition: feature-vector3.hh:59
matrix-geometry.hh
exception-task.hh
SOTFEATUREVECTOR3_EXPORT
#define SOTFEATUREVECTOR3_EXPORT
Definition: feature-vector3.hh:33
dynamicgraph::sot::FeatureAbstract::selectionSIN
SignalPtr< Flags, int > selectionSIN
This vector specifies which dimension are used to perform the computation. For instance let us assume...
Definition: feature-abstract.hh:172
dynamicgraph::sot::FeatureVector3::DECLARE_NO_REFERENCE
DECLARE_NO_REFERENCE
Definition: feature-vector3.hh:53