The general definition of feature is provided by dynamicgraph::sot::FeatureAbstract .
The list of features that are provided are:
-
Feature1D :
norm of 
dynamicgraph::sot::Feature1D - FeatureGeneric : Externalisation of the Feature computation dynamicgraph::sot::FeatureGeneric
- FeatureJointLimits : Distance to the joint limits and its Jacobian dynamicgraph::sot::FeatureJointLimits
- FeatureLineDistance : Regulate the distance of a line through a body to a reference point dynamicgraph::sot::FeatureLineDistance
- FeaturePoint6d : Regulate the distance from a pose on a body to a point reference. dynamicgraph::sot::FeaturePoint6d
- FeaturePoint6dRelative : Regulate a relative distance between two bodies. dynamicgraph::sot::FeatuePoint6dRelative
- FeaturePosture : Regulate the posture between the current one and a reference. dynamicgraph::sot::FeaturePosture
- FeatureReferenceHelper : dynamicgraph::sot::FeatureReferenceHelper
- FeatureTask : dynamicgraph::sot::FeatureTask
- FeatureVector3 : dynamicgraph::sot::FeatureVector3
- FeatureVisualPoint : : dynamicgraph::sot::FeatureVisualPoint