#include <feature-task.hh>
Inheritance diagram for dynamicgraph::sot::FeatureTask:
Public Member Functions | |
| virtual void | display (std::ostream &os) const |
| Display the information related to this task implementation. More... | |
| FeatureTask (const std::string &name) | |
| Default constructor. More... | |
| virtual const std::string & | getClassName (void) const |
| virtual | ~FeatureTask (void) |
| Default destructor. More... | |
 Public Member Functions inherited from dynamicgraph::sot::FeatureGeneric | |
| FeatureGeneric (const std::string &name) | |
| Default constructor. More... | |
| virtual | ~FeatureGeneric (void) |
| Default destructor. More... | |
| virtual unsigned int & | getDimension (unsigned int &dim, int time) |
| Get the dimension of the feature. More... | |
| virtual dynamicgraph::Vector & | computeError (dynamicgraph::Vector &res, int time) |
| Compute the error between the desired value and the value itself. More... | |
| virtual dynamicgraph::Matrix & | computeJacobian (dynamicgraph::Matrix &res, int time) |
| Compute the Jacobian of the value according to the robot state.. More... | |
| DECLARE_REFERENCE_FUNCTIONS (FeatureGeneric) | |
| 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 () |
Static Public Attributes | |
| static const std::string | CLASS_NAME |
| Static Public Attributes inherited from dynamicgraph::sot::FeatureGeneric | |
| 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... | |
Protected Attributes | |
| TaskAbstract * | taskPtr |
| Protected Attributes inherited from dynamicgraph::sot::FeatureGeneric | |
| dynamicgraph::Vector::Index | dimensionDefault |
| Protected Attributes inherited from dynamicgraph::Entity | |
| CommandMap_t | commandMap |
| Logger | logger_ |
| std::string | name |
| SignalMap | signalMap |
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 |
| Public Attributes inherited from dynamicgraph::sot::FeatureGeneric | |
| dynamicgraph::SignalPtr< dynamicgraph::Vector, int > | errorSIN |
| Input for the error. More... | |
| dynamicgraph::SignalPtr< dynamicgraph::Matrix, int > | jacobianSIN |
| Input for the Jacobian. More... | |
| 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] $](form_45.png) . 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 :  . More... | |
| SignalTimeDependent< dynamicgraph::Vector, int > | errordotSOUT |
Derivative of the error with respect to time:  . More... | |
| SignalTimeDependent< dynamicgraph::Matrix, int > | jacobianSOUT |
Jacobian of the error wrt the robot state:  . More... | |
| SignalTimeDependent< unsigned int, int > | dimensionSOUT |
| Returns the dimension of the feature as an output signal. More... | |
| 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) |
Detailed Description
Definition at line 43 of file feature-task.hh.
Constructor & Destructor Documentation
◆ FeatureTask()
| FeatureTask::FeatureTask | ( | const std::string & | name | ) |
Default constructor.
Definition at line 32 of file feature-task.cpp.
◆ ~FeatureTask()
|
inlinevirtual |
Default destructor.
Definition at line 60 of file feature-task.hh.
Member Function Documentation
◆ display()
|
virtual |
Display the information related to this task implementation.
Reimplemented from dynamicgraph::sot::FeatureGeneric.
Definition at line 42 of file feature-task.cpp.
◆ getClassName()
|
inlinevirtual |
Returns the name of the class.
Reimplemented from dynamicgraph::sot::FeatureGeneric.
Definition at line 48 of file feature-task.hh.
Member Data Documentation
◆ CLASS_NAME
|
static |
Field storing the class name.
Definition at line 46 of file feature-task.hh.
◆ taskPtr
|
protected |
Definition at line 51 of file feature-task.hh.
The documentation for this class was generated from the following files: