Class that defines point-3d control feature. More...

#include <feature-line-distance.hh>

Inheritance diagram for dynamicgraph::sot::FeatureLineDistance:

Public Member Functions
virtual dynamicgraph::Vector &	computeError (dynamicgraph::Vector &res, int time)

virtual dynamicgraph::Matrix &	computeJacobian (dynamicgraph::Matrix &res, int time)

dynamicgraph::Vector &	computeLineCoordinates (dynamicgraph::Vector &cood, int time)

virtual void	display (std::ostream &os) const

	FeatureLineDistance (const std::string &name)

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

virtual unsigned int &	getDimension (unsigned int &dim, int time)
	Verbose method. More...

virtual	~FeatureLineDistance (void)

Public Member Functions inherited from dynamicgraph::sot::FeatureAbstract
	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...

void	initCommands (void)

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

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

unsigned int	getDimension (void) const
	Shortest method. More...

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

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

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 ()

Public Member Functions inherited from dynamicgraph::Entity
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
dynamicgraph::SignalPtr< dynamicgraph::Matrix, int >	articularJacobianSIN

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

dynamicgraph::SignalPtr< dynamicgraph::Vector, int >	positionRefSIN

dynamicgraph::SignalPtr< MatrixHomogeneous, int >	positionSIN

dynamicgraph::SignalPtr< dynamicgraph::Vector, int >	vectorSIN

Dealing with the reference value to be reach with this feature.
	DECLARE_NO_REFERENCE

Public Attributes inherited from dynamicgraph::sot::FeatureAbstract
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...

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...

Static Public Attributes
static const std::string	CLASS_NAME

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

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

Class that defines point-3d control feature.

Definition at line 46 of file feature-line-distance.hh.

Constructor & Destructor Documentation

◆ FeatureLineDistance()

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

Definition at line 32 of file feature-line-distance.cpp.

◆ ~FeatureLineDistance()

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

inlinevirtual

Definition at line 73 of file feature-line-distance.hh.

Member Function Documentation

◆ computeError()

Vector & FeatureLineDistance::computeError	(	dynamicgraph::Vector &	res,
		int	time
	)

virtual

Compute the error between two visual features from a subset a the possible features.

Implements dynamicgraph::sot::FeatureAbstract.

Definition at line 242 of file feature-line-distance.cpp.

◆ computeJacobian()

Matrix & FeatureLineDistance::computeJacobian	(	dynamicgraph::Matrix &	res,
		int	time
	)

virtual

Compute the interaction matrix from a subset of the possible features.

Implements dynamicgraph::sot::FeatureAbstract.

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

◆ computeLineCoordinates()

Vector & FeatureLineDistance::computeLineCoordinates	(	dynamicgraph::Vector &	cood,
		int	time
	)

Definition at line 67 of file feature-line-distance.cpp.

◆ display()

void FeatureLineDistance::display ( std::ostream & os ) const

virtual

Reimplemented from dynamicgraph::Entity.

Definition at line 279 of file feature-line-distance.cpp.

◆ getClassName()

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

inlinevirtual

Returns the name class.

Reimplemented from dynamicgraph::sot::FeatureAbstract.

Definition at line 50 of file feature-line-distance.hh.

◆ getDimension()

unsigned int & FeatureLineDistance::getDimension	(	unsigned int &	res,
		int	time
	)

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.

Implements dynamicgraph::sot::FeatureAbstract.

Definition at line 59 of file feature-line-distance.cpp.

Member Data Documentation

◆ articularJacobianSIN

dynamicgraph::SignalPtr<dynamicgraph::Matrix, int> dynamicgraph::sot::FeatureLineDistance::articularJacobianSIN

Definition at line 56 of file feature-line-distance.hh.

◆ CLASS_NAME

const std::string dynamicgraph::sot::FeatureLineDistance::CLASS_NAME

static

Definition at line 49 of file feature-line-distance.hh.

◆ DECLARE_NO_REFERENCE

dynamicgraph::sot::FeatureLineDistance::DECLARE_NO_REFERENCE

Definition at line 68 of file feature-line-distance.hh.

◆ lineSOUT

dynamicgraph::SignalTimeDependent<dynamicgraph::Vector, int> dynamicgraph::sot::FeatureLineDistance::lineSOUT

Definition at line 59 of file feature-line-distance.hh.

◆ positionRefSIN

dynamicgraph::SignalPtr<dynamicgraph::Vector, int> dynamicgraph::sot::FeatureLineDistance::positionRefSIN

Definition at line 57 of file feature-line-distance.hh.

◆ positionSIN

dynamicgraph::SignalPtr<MatrixHomogeneous, int> dynamicgraph::sot::FeatureLineDistance::positionSIN

Definition at line 55 of file feature-line-distance.hh.

◆ vectorSIN

dynamicgraph::SignalPtr<dynamicgraph::Vector, int> dynamicgraph::sot::FeatureLineDistance::vectorSIN

Definition at line 58 of file feature-line-distance.hh.

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

Public Member Functions

Public Attributes

Static Public Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ FeatureLineDistance()

◆ ~FeatureLineDistance()

Member Function Documentation

◆ computeError()

◆ computeJacobian()

◆ computeLineCoordinates()

◆ display()

◆ getClassName()

◆ getDimension()

Member Data Documentation

◆ articularJacobianSIN

◆ CLASS_NAME

◆ DECLARE_NO_REFERENCE

◆ lineSOUT

◆ positionRefSIN

◆ positionSIN

◆ vectorSIN