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 unsigned int &	getDimension (unsigned int &res, int time)=0
	Verbose method. More...

unsigned int	getDimension (int time)
	Short method. More...

unsigned int	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, int 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, int time)=0
	Compute the Jacobian of the error according the robot state. More...

virtual dynamicgraph::Vector &	computeErrorDot (dynamicgraph::Vector &res, int 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< int > &	getSignal (const std::string &signalName)

const SignalBase< int > &	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 const &	logger () const

Logger &	logger ()

Logger const &	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< int > *	test ()

virtual void	test2 (SignalBase< int > *)

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

virtual	~Entity ()

Public Attributes
Input signals:
SignalPtr< Flags, int >	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, int >	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, int >	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, int >	errordotSOUT
	Derivative of the error with respect to time: $\frac{\partial e}{\partial t} = - \frac{d{\bf s}^*}{dt}$ . More...

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

SignalTimeDependent< unsigned int, int >	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, int > &	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< int > *>	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< int > &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,
		int	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::FeaturePose< representation >, dynamicgraph::sot::FeatureGeneric, dynamicgraph::sot::Feature1D, dynamicgraph::sot::FeatureJointLimits, dynamicgraph::sot::FeatureLineDistance, dynamicgraph::sot::FeatureVisualPoint, dynamicgraph::sot::FeatureVector3, dynamicgraph::sot::FeaturePosture, and TestFeature.

◆ computeErrorDot()

dynamicgraph::Vector & FeatureAbstract::computeErrorDot	(	dynamicgraph::Vector &	res,
		int	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,
		int	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::FeaturePose< representation >, dynamicgraph::sot::FeatureGeneric, dynamicgraph::sot::Feature1D, dynamicgraph::sot::FeatureJointLimits, dynamicgraph::sot::FeatureLineDistance, dynamicgraph::sot::FeatureVisualPoint, dynamicgraph::sot::FeatureVector3, dynamicgraph::sot::FeaturePosture, and TestFeature.

◆ 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]

virtual unsigned int& dynamicgraph::sot::FeatureAbstract::getDimension	(	unsigned int &	res,
		int	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::FeaturePose< representation >, dynamicgraph::sot::FeatureGeneric, dynamicgraph::sot::Feature1D, dynamicgraph::sot::FeatureJointLimits, dynamicgraph::sot::FeatureLineDistance, dynamicgraph::sot::FeatureVisualPoint, dynamicgraph::sot::FeatureVector3, dynamicgraph::sot::FeaturePosture, and TestFeature.

◆ getDimension() [2/3]

unsigned int dynamicgraph::sot::FeatureAbstract::getDimension ( int 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() [3/3]

unsigned int 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, int>& 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<unsigned int, int> 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, int> dynamicgraph::sot::FeatureAbstract::errordotSIN

Derivative of the reference value.

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

◆ errordotSOUT

SignalTimeDependent<dynamicgraph::Vector, int> 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, int> 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, int> 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, int> 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