feature-pose.hh

Go to the documentation of this file.

/*
 * Copyright 2019,
 * Joseph Mirabel
 *
 * LAAS-CNRS
 *
 */

#ifndef __SOT_FEATURE_POSE_HH__
#define __SOT_FEATURE_POSE_HH__

/* --------------------------------------------------------------------- */
/* --- INCLUDE --------------------------------------------------------- */
/* --------------------------------------------------------------------- */

/* SOT */
#include <sot/core/config.hh>
#include <sot/core/feature-abstract.hh>
#include <sot/core/matrix-geometry.hh>

/* --------------------------------------------------------------------- */
/* --- CLASS ----------------------------------------------------------- */
/* --------------------------------------------------------------------- */

namespace dynamicgraph {
namespace sot {

enum Representation_t { SE3Representation, R3xSO3Representation };

template <Representation_t representation = R3xSO3Representation>
class SOT_CORE_DLLAPI FeaturePose : public FeatureAbstract {
 public:
  static const std::string CLASS_NAME;
  virtual const std::string &getClassName(void) const { return CLASS_NAME; }

 public:
  dynamicgraph::SignalPtr<MatrixHomogeneous, int> oMja;
  dynamicgraph::SignalPtr<MatrixHomogeneous, int> jaMfa;
  dynamicgraph::SignalPtr<MatrixHomogeneous, int> oMjb;
  dynamicgraph::SignalPtr<MatrixHomogeneous, int> jbMfb;
  dynamicgraph::SignalPtr<Matrix, int> jaJja;
  dynamicgraph::SignalPtr<Matrix, int> jbJjb;

  dynamicgraph::SignalPtr<MatrixHomogeneous, int> faMfbDes;
  dynamicgraph::SignalPtr<Vector, int> faNufafbDes;
  SignalTimeDependent<MatrixHomogeneous, int> faMfb;

  SignalTimeDependent<Vector7, int> q_faMfb;

  SignalTimeDependent<Vector7, int> q_faMfbDes;
  using FeatureAbstract::errorSOUT;
  using FeatureAbstract::jacobianSOUT;
  using FeatureAbstract::selectionSIN;

  DECLARE_NO_REFERENCE();
 public:
  FeaturePose(const std::string &name);
  virtual ~FeaturePose(void);

  virtual unsigned int &getDimension(unsigned int &dim, int time);

  virtual dynamicgraph::Vector &computeError(dynamicgraph::Vector &res,
                                             int time);
  virtual dynamicgraph::Vector &computeErrorDot(dynamicgraph::Vector &res,
                                                int time);
  virtual dynamicgraph::Matrix &computeJacobian(dynamicgraph::Matrix &res,
                                                int time);

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

 public:
  void servoCurrentPosition(const int &time);

 private:
  MatrixHomogeneous &computefaMfb(MatrixHomogeneous &res, int time);
  Vector7 &computeQfaMfb(Vector7 &res, int time);
  Vector7 &computeQfaMfbDes(Vector7 &res, int time);

};

template <typename T>
Vector6d convertVelocity(const MatrixHomogeneous &M,
                         const MatrixHomogeneous &Mdes,
                         const Vector &faNufafbDes);

template <>
const std::string FeaturePose<SE3Representation>::CLASS_NAME;
template <>
const std::string FeaturePose<R3xSO3Representation>::CLASS_NAME;

#if __cplusplus >= 201103L
extern template class FeaturePose<SE3Representation>;
extern template class FeaturePose<R3xSO3Representation>;
#endif

typedef FeaturePose<R3xSO3Representation> FeaturePose_t;
typedef FeaturePose<SE3Representation> FeaturePoseSE3_t;

} /* namespace sot */
} /* namespace dynamicgraph */

#endif  // #ifndef __SOT_FEATURE_POSE_HH__

/*
 * Local variables:
 * c-basic-offset: 2
 * End:
 */