10 #ifndef __SOT_FEATURE_GENERIC_HH__ 11 #define __SOT_FEATURE_GENERIC_HH__ 26 #if defined(feature_generic_EXPORTS) 27 #define SOTFEATUREGENERIC_EXPORT __declspec(dllexport) 29 #define SOTFEATUREGENERIC_EXPORT __declspec(dllimport) 32 #define SOTFEATUREGENERIC_EXPORT 63 virtual const std::string &
getClassName(
void)
const {
return CLASS_NAME; }
103 virtual unsigned int &getDimension(
unsigned int &
dim,
int time);
121 virtual void display(std::ostream &os)
const;
133 #endif // #ifndef __SOT_FEATURE_GENERIC_HH__
#define SOTFEATUREGENERIC_EXPORT
virtual const std::string & getClassName(void) const
dynamicgraph::SignalPtr< dynamicgraph::Matrix, int > jacobianSIN
Input for the Jacobian.
SignalTimeDependent< dynamicgraph::Matrix, int > jacobianSOUT
Jacobian of the error wrt the robot state: .
dynamicgraph::Vector::Index dimensionDefault
This class gives the abstract definition of a feature.
#define DECLARE_REFERENCE_FUNCTIONS(FeatureSpecialized)
virtual ~FeatureGeneric(void)
Default destructor.
dynamicgraph::SignalPtr< dynamicgraph::Vector, int > errorSIN
Input for the error.
SignalTimeDependent< dynamicgraph::Vector, int > errorSOUT
This signal returns the error between the desired value and the current value : . ...
static const std::string CLASS_NAME
Class that defines a generic implementation of the abstract interface for features.