This class gives the abstract definition of a feature. More...

#include <feature-abstract.hh>

Inheritance diagram for dynamicgraph::sot::FeatureAbstract:

[legend]

Public Member Functions
	FeatureAbstract (const std::string &name)
	Default constructor: the name of the class should be given. More...

void	featureRegistration (void)
	Register the feature in the stack of tasks. More...

virtual const std::string &	getClassName (void) const
	Returns the name class. More...

void	initCommands (void)

virtual	~FeatureAbstract (void)
	Default destructor. More...

Methods returning the dimension of the feature.
virtual size_type &	getDimension (size_type &res, sigtime_t time)=0
	Verbose method. More...

size_type	getDimension (sigtime_t time)
	Short method. More...

size_type	getDimension (void) const
	Shortest method. More...

Methods to control internal computation.
The main idea is that some feature may have a lower frequency than the internal control loop. In this case, the methods for computation are called only when needed.
virtual dynamicgraph::Vector &	computeError (dynamicgraph::Vector &res, sigtime_t time)=0
	Compute the error between the desired feature and the current value of the feature measured or deduced from the robot state. More...

virtual dynamicgraph::Matrix &	computeJacobian (dynamicgraph::Matrix &res, sigtime_t time)=0
	Compute the Jacobian of the error according the robot state. More...

virtual dynamicgraph::Vector &	computeErrorDot (dynamicgraph::Vector &res, sigtime_t time)

Reference
virtual void	setReference (FeatureAbstract *sdes)=0

virtual void	unsetReference (void)

virtual const FeatureAbstract *	getReferenceAbstract (void) const =0

virtual FeatureAbstract *	getReferenceAbstract (void)=0

virtual bool	isReferenceSet (void) const

virtual void	addDependenciesFromReference (void)=0

virtual void	removeDependenciesFromReference (void)=0

void	setReferenceByName (const std::string &name)

std::string	getReferenceByName (void) const

Public Member Functions inherited from dynamicgraph::Entity
virtual void	display (std::ostream &os) const

std::ostream &	displaySignalList (std::ostream &os) const

	Entity (const std::string &name)

const std::string &	getCommandList () const

virtual std::string	getDocString () const

LoggerVerbosity	getLoggerVerbosityLevel ()

LoggerVerbosity	getLoggerVerbosityLevel ()

const std::string &	getName () const

command::Command *	getNewStyleCommand (const std::string &cmdName)

CommandMap_t	getNewStyleCommandMap ()

SignalBase< sigtime_t > &	getSignal (const std::string &signalName)

const SignalBase< sigtime_t > &	getSignal (const std::string &signalName) const

SignalMap	getSignalMap () const

double	getStreamPrintPeriod ()

double	getStreamPrintPeriod ()

double	getTimeSample ()

double	getTimeSample ()

bool	hasSignal (const std::string &signame) const

Logger &	logger ()

Logger &	logger ()

const Logger &	logger () const

const Logger &	logger () const

void	sendMsg (const std::string &msg, MsgType t=MSG_TYPE_INFO, const std::string &lineId="")

void	sendMsg (const std::string &msg, MsgType t=MSG_TYPE_INFO, const std::string &lineId="")

void	setLoggerVerbosityLevel (LoggerVerbosity lv)

void	setLoggerVerbosityLevel (LoggerVerbosity lv)

bool	setStreamPrintPeriod (double t)

bool	setStreamPrintPeriod (double t)

bool	setTimeSample (double t)

bool	setTimeSample (double t)

virtual SignalBase< sigtime_t > *	test ()

virtual void	test2 (SignalBase< sigtime_t > *)

virtual std::ostream &	writeCompletionList (std::ostream &os) const

virtual	~Entity ()

Public Attributes
Input signals:
SignalPtr< Flags, sigtime_t >	selectionSIN
	This vector specifies which dimension are used to perform the computation. For instance let us assume that the feature is a 3D point. If only the Y-axis should be used for computing error, activation and Jacobian, then the vector to specify is . More...

SignalPtr< dynamicgraph::Vector, sigtime_t >	errordotSIN
	Derivative of the reference value. More...

Static Public Attributes
static const std::string	CLASS_NAME = "FeatureAbstract"
	Store the name of the class. More...

Output signals:
SignalTimeDependent< dynamicgraph::Vector, sigtime_t >	errorSOUT
	This signal returns the error between the desired value and the current value : $E(t) = {\bf s}(t) - {\bf s}^*(t)$ . More...

SignalTimeDependent< dynamicgraph::Vector, sigtime_t >	errordotSOUT
	Derivative of the error with respect to time: $\frac{\partial e}{\partial t} = - \frac{d{\bf s}^*}{dt}$ . More...

SignalTimeDependent< dynamicgraph::Matrix, sigtime_t >	jacobianSOUT
	Jacobian of the error wrt the robot state: $J = \frac{\partial {\bf s}}{\partial {\bf q}}$ . More...

SignalTimeDependent< size_type, sigtime_t >	dimensionSOUT
	Returns the dimension of the feature as an output signal. More...

virtual std::ostream &	writeGraph (std::ostream &os) const
	This method write a graph description on the file named FileName. More...

virtual SignalTimeDependent< dynamicgraph::Vector, sigtime_t > &	getErrorDot ()

Additional Inherited Members
Public Types inherited from dynamicgraph::Entity
typedef std::map< const std::string, command::Command * >	CommandMap_t

typedef std::map< std::string, SignalBase< sigtime_t > * >	SignalMap

Protected Member Functions inherited from dynamicgraph::Entity
void	addCommand (const std::string &name, command::Command *command)

void	entityDeregistration ()

void	entityRegistration ()

void	signalDeregistration (const std::string &name)

void	signalRegistration (const SignalArray< sigtime_t > &signals)

Protected Attributes inherited from dynamicgraph::Entity
CommandMap_t	commandMap

Logger	logger_

std::string	name

SignalMap	signalMap

Detailed Description

This class gives the abstract definition of a feature.

par_features_definition Definition: In short, a feature is a data evolving according to time. It is defined by a vector ${\bf s}({\bf q}) \in \mathbb{R}^n$ where ${\bf q}$ is a robot configuration, which depends on the time . By default a feature has a desired ${\bf s}^*(t)$ . ${\bf s}^*$ is provided by another feature of the same type called reference. The feature is in charge of collecting its own current state. A feature is supposed to compute an error between its current state and the desired one: $E(t) = e({\bf q}(t), t) = {\bf s}({\bf q}(t)) \ominus {\bf s}^*(t)$ . Here, $\ominus$ is the difference operator of Lie group in which ${\bf s}$ and ${\bf s}^*$ are. The documentation below assumes the Lie group is a vector space and $\ominus$ is the usual difference operator.

A feature computes:

the Jacobian according to the robot state vector $J = \frac{\partial e}{\partial {\bf q}} = \frac{\partial{\bf s}}{\partial {\bf q}}$ .
the partial derivative of the error : $\frac{\partial e}{\partial t} = - \frac{d{\bf s}^*}{dt}$ .

The task is in general computed from the value of the feature at the current instant $E(t) = e({\bf q},t)$ . The derivative of $ E $ is:

$\frac{dE}{dt} = J({\bf q}) \dot{q} + \frac{\partial e}{\partial t}$

Feature diagram: Feature types derive from

FeatureAbstract. Each feature has a reference of the same type and compute an error by comparing errorSIN signals from itself and from the reference."

Definition at line 76 of file feature-abstract.hh.

Constructor & Destructor Documentation

◆ FeatureAbstract()

FeatureAbstract::FeatureAbstract ( const std::string & name )

Default constructor: the name of the class should be given.

Definition at line 24 of file feature-abstract.cpp.

◆ ~FeatureAbstract()

virtual dynamicgraph::sot::FeatureAbstract::~FeatureAbstract ( void )

inlinevirtual

Default destructor.

Definition at line 93 of file feature-abstract.hh.

Member Function Documentation

◆ addDependenciesFromReference()

virtual void dynamicgraph::sot::FeatureAbstract::addDependenciesFromReference ( void )

pure virtual

◆ computeError()

virtual dynamicgraph::Vector& dynamicgraph::sot::FeatureAbstract::computeError	(	dynamicgraph::Vector &	res,
		sigtime_t	time
	)

pure virtual

Compute the error between the desired feature and the current value of the feature measured or deduced from the robot state.

[out] res: The error will be set into res.

[in] time: The time at which the error is computed.

Returns: The vector res with the appropriate value.

Implemented in dynamicgraph::sot::FeaturePosture, dynamicgraph::sot::FeaturePose< representation >, dynamicgraph::sot::FeatureGeneric, dynamicgraph::sot::Feature1D, dynamicgraph::sot::FeatureJointLimits, dynamicgraph::sot::FeatureLineDistance, dynamicgraph::sot::FeatureVisualPoint, and dynamicgraph::sot::FeatureVector3.

◆ computeErrorDot()

dynamicgraph::Vector & FeatureAbstract::computeErrorDot	(	dynamicgraph::Vector &	res,
		sigtime_t	time
	)

virtual

Callback for signal errordotSOUT

Copy components of the input signal errordotSIN defined by selection flag selectionSIN.

Reimplemented in dynamicgraph::sot::FeaturePose< representation >, and dynamicgraph::sot::FeaturePosture.

Definition at line 95 of file feature-abstract.cpp.

◆ computeJacobian()

virtual dynamicgraph::Matrix& dynamicgraph::sot::FeatureAbstract::computeJacobian	(	dynamicgraph::Matrix &	res,
		sigtime_t	time
	)

pure virtual

Compute the Jacobian of the error according the robot state.

[out] res: The matrix in which the error will be written.

Returns: The matrix res with the appropriate values.

Implemented in dynamicgraph::sot::FeaturePosture, dynamicgraph::sot::FeaturePose< representation >, dynamicgraph::sot::FeatureGeneric, dynamicgraph::sot::Feature1D, dynamicgraph::sot::FeatureJointLimits, dynamicgraph::sot::FeatureLineDistance, dynamicgraph::sot::FeatureVisualPoint, and dynamicgraph::sot::FeatureVector3.

◆ featureRegistration()

void FeatureAbstract::featureRegistration ( void )

Register the feature in the stack of tasks.

Definition at line 66 of file feature-abstract.cpp.

◆ getClassName()

virtual const std::string& dynamicgraph::sot::FeatureAbstract::getClassName ( void ) const

inlinevirtual

Returns the name class.

Reimplemented from dynamicgraph::Entity.

Reimplemented in dynamicgraph::sot::FeaturePose< representation >, dynamicgraph::sot::FeatureGeneric, dynamicgraph::sot::Feature1D, dynamicgraph::sot::FeatureJointLimits, dynamicgraph::sot::FeatureVisualPoint, dynamicgraph::sot::FeatureLineDistance, dynamicgraph::sot::FeatureVector3, and dynamicgraph::sot::FeatureTask.

Definition at line 82 of file feature-abstract.hh.

◆ getDimension() [1/3]

size_type dynamicgraph::sot::FeatureAbstract::getDimension ( sigtime_t time )

inline

Short method.

time: The time at which the feature should be considered.

Returns: Dimension of the feature.

Note: Be careful with features changing their dimension according to time.

Definition at line 111 of file feature-abstract.hh.

◆ getDimension() [2/3]

virtual size_type& dynamicgraph::sot::FeatureAbstract::getDimension	(	size_type &	res,
		sigtime_t	time
	)

pure virtual

Verbose method.

res: The integer in which the dimension will be return.

time: The time at which the feature should be considered.

Returns: Dimension of the feature.

Note: Be careful with features changing their dimension according to time.

Implemented in dynamicgraph::sot::FeaturePosture, dynamicgraph::sot::FeaturePose< representation >, dynamicgraph::sot::FeatureGeneric, dynamicgraph::sot::Feature1D, dynamicgraph::sot::FeatureJointLimits, dynamicgraph::sot::FeatureLineDistance, dynamicgraph::sot::FeatureVisualPoint, and dynamicgraph::sot::FeatureVector3.

◆ getDimension() [3/3]

size_type dynamicgraph::sot::FeatureAbstract::getDimension ( void ) const

inline

Shortest method.

Returns: Dimension of the feature.

Note: The feature is not changing its dimension according to time.

Definition at line 121 of file feature-abstract.hh.

◆ getErrorDot()

virtual SignalTimeDependent<dynamicgraph::Vector, sigtime_t>& dynamicgraph::sot::FeatureAbstract::getErrorDot ( )

inlinevirtual

Definition at line 202 of file feature-abstract.hh.

◆ getReferenceAbstract() [1/2]

virtual const FeatureAbstract* dynamicgraph::sot::FeatureAbstract::getReferenceAbstract ( void ) const

pure virtual

◆ getReferenceAbstract() [2/2]

virtual FeatureAbstract* dynamicgraph::sot::FeatureAbstract::getReferenceAbstract ( void )

pure virtual

◆ getReferenceByName()

std::string FeatureAbstract::getReferenceByName ( void ) const

Definition at line 88 of file feature-abstract.cpp.

◆ initCommands()

void FeatureAbstract::initCommands ( void )

Definition at line 52 of file feature-abstract.cpp.

◆ isReferenceSet()

virtual bool dynamicgraph::sot::FeatureAbstract::isReferenceSet ( void ) const

inlinevirtual

Definition at line 217 of file feature-abstract.hh.

◆ removeDependenciesFromReference()

virtual void dynamicgraph::sot::FeatureAbstract::removeDependenciesFromReference ( void )

pure virtual

◆ setReference()

virtual void dynamicgraph::sot::FeatureAbstract::setReference ( FeatureAbstract * sdes )

pure virtual

◆ setReferenceByName()

void FeatureAbstract::setReferenceByName ( const std::string & name )

Definition at line 83 of file feature-abstract.cpp.

◆ unsetReference()

virtual void dynamicgraph::sot::FeatureAbstract::unsetReference ( void )

inlinevirtual

Definition at line 214 of file feature-abstract.hh.

◆ writeGraph()

std::ostream & FeatureAbstract::writeGraph ( std::ostream & os ) const

virtual

This method write a graph description on the file named FileName.

Reimplemented from dynamicgraph::Entity.

Definition at line 70 of file feature-abstract.cpp.

Member Data Documentation

◆ CLASS_NAME

const std::string FeatureAbstract::CLASS_NAME = "FeatureAbstract"

static

Store the name of the class.

Definition at line 79 of file feature-abstract.hh.

◆ dimensionSOUT

SignalTimeDependent<size_type, sigtime_t> dynamicgraph::sot::FeatureAbstract::dimensionSOUT

Returns the dimension of the feature as an output signal.

Definition at line 196 of file feature-abstract.hh.

◆ errordotSIN

SignalPtr<dynamicgraph::Vector, sigtime_t> dynamicgraph::sot::FeatureAbstract::errordotSIN

Derivative of the reference value.

Definition at line 176 of file feature-abstract.hh.

◆ errordotSOUT

SignalTimeDependent<dynamicgraph::Vector, sigtime_t> dynamicgraph::sot::FeatureAbstract::errordotSOUT

Derivative of the error with respect to time: $\frac{\partial e}{\partial t} = - \frac{d{\bf s}^*}{dt}$ .

Definition at line 189 of file feature-abstract.hh.

◆ errorSOUT

SignalTimeDependent<dynamicgraph::Vector, sigtime_t> dynamicgraph::sot::FeatureAbstract::errorSOUT

This signal returns the error between the desired value and the current value : $E(t) = {\bf s}(t) - {\bf s}^*(t)$ .

Definition at line 185 of file feature-abstract.hh.

◆ jacobianSOUT

SignalTimeDependent<dynamicgraph::Matrix, sigtime_t> dynamicgraph::sot::FeatureAbstract::jacobianSOUT

Jacobian of the error wrt the robot state: $J = \frac{\partial {\bf s}}{\partial {\bf q}}$ .

Definition at line 193 of file feature-abstract.hh.

◆ selectionSIN

SignalPtr<Flags, sigtime_t> dynamicgraph::sot::FeatureAbstract::selectionSIN

This vector specifies which dimension are used to perform the computation. For instance let us assume that the feature is a 3D point. If only the Y-axis should be used for computing error, activation and Jacobian, then the vector to specify is $ [ 0 1 0] $ .

Definition at line 173 of file feature-abstract.hh.

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

Public Member Functions

Public Attributes

Static Public Attributes

Output signals:

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ FeatureAbstract()

◆ ~FeatureAbstract()

Member Function Documentation

◆ addDependenciesFromReference()

◆ computeError()

◆ computeErrorDot()

◆ computeJacobian()

◆ featureRegistration()

◆ getClassName()

◆ getDimension() [1/3]

◆ getDimension() [2/3]

◆ getDimension() [3/3]

◆ getErrorDot()

◆ getReferenceAbstract() [1/2]

◆ getReferenceAbstract() [2/2]

◆ getReferenceByName()

◆ initCommands()

◆ isReferenceSet()

◆ removeDependenciesFromReference()

◆ setReference()

◆ setReferenceByName()

◆ unsetReference()

◆ writeGraph()

Member Data Documentation

◆ CLASS_NAME

◆ dimensionSOUT

◆ errordotSIN

◆ errordotSOUT

◆ errorSOUT

◆ jacobianSOUT

◆ selectionSIN