Public Member Functions | Public Attributes | Static Public Attributes | List of all members
dynamicgraph::sot::FeatureLineDistance Class Reference

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

#include <feature-line-distance.hh>

Inheritance diagram for dynamicgraph::sot::FeatureLineDistance:
Inheritance graph
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Public Member Functions

virtual dynamicgraph::VectorcomputeError (dynamicgraph::Vector &res, int time)
 
virtual dynamicgraph::MatrixcomputeJacobian (dynamicgraph::Matrix &res, int time)
 
dynamicgraph::VectorcomputeLineCoordinates (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::VectorcomputeErrorDot (dynamicgraph::Vector &res, int time)
 
virtual void setReference (FeatureAbstract *sdes)=0
 
virtual void unsetReference (void)
 
virtual const FeatureAbstractgetReferenceAbstract (void) const =0
 
virtual FeatureAbstractgetReferenceAbstract (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::CommandgetNewStyleCommand (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
 
Loggerlogger ()
 
Logger const & logger () const
 
Loggerlogger ()
 
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 $ [ 0 1 0] $. 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:


sot-core
Author(s): Olivier Stasse, ostasse@laas.fr
autogenerated on Wed Jun 21 2023 02:51:27