Simple test: the task is defined to be e_2 = .5 . e'.e, with e the mother task. The jacobian is then J_2 = e'.J, J being the jacobian of the mother task. More...

#include <feature-1d.hh>

Inheritance diagram for dynamicgraph::sot::Feature1D:

[legend]

Public Member Functions
virtual void	display (std::ostream &os) const
	Display the information related to this 1D implementation. More...

virtual const std::string &	getClassName (void) const

Methods to trigger computation related to this feature.
virtual dynamicgraph::Vector &	computeError (dynamicgraph::Vector &res, sigtime_t time)
	Compute the error between the desired value and the value itself. More...

virtual dynamicgraph::Matrix &	computeJacobian (dynamicgraph::Matrix &res, sigtime_t time)
	Compute the Jacobian of the value according to the robot state.. More...

Dealing with the reference value to be reach with this feature.
	DECLARE_REFERENCE_FUNCTIONS (Feature1D)

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...

size_type	getDimension (sigtime_t time)
	Short method. More...

size_type	getDimension (void) const
	Shortest method. More...

virtual dynamicgraph::Vector &	computeErrorDot (dynamicgraph::Vector &res, sigtime_t 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, sigtime_t > &	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< sigtime_t > &	getSignal (const std::string &signalName)

const SignalBase< sigtime_t > &	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 &	logger ()

const Logger &	logger () const

const Logger &	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< sigtime_t > *	test ()

virtual void	test2 (SignalBase< sigtime_t > *)

virtual std::ostream &	writeCompletionList (std::ostream &os) const

virtual	~Entity ()

Public Attributes
Input signals
dynamicgraph::SignalPtr< dynamicgraph::Vector, sigtime_t >	errorSIN
	Input for the error. More...

dynamicgraph::SignalPtr< dynamicgraph::Matrix, sigtime_t >	jacobianSIN
	Input for the Jacobian. More...

Public Attributes inherited from dynamicgraph::sot::FeatureAbstract
SignalPtr< Flags, sigtime_t >	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 . More...

SignalPtr< dynamicgraph::Vector, sigtime_t >	errordotSIN
	Derivative of the reference value. More...

SignalTimeDependent< dynamicgraph::Vector, sigtime_t >	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, sigtime_t >	errordotSOUT
	Derivative of the error with respect to time: $\frac{\partial e}{\partial t} = - \frac{d{\bf s}^*}{dt}$ . More...

SignalTimeDependent< dynamicgraph::Matrix, sigtime_t >	jacobianSOUT
	Jacobian of the error wrt the robot state: $J = \frac{\partial {\bf s}}{\partial {\bf q}}$ . More...

SignalTimeDependent< size_type, sigtime_t >	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...

Output signals
SignalTimeDependent< dynamicgraph::Matrix, sigtime_t >	jacobianSOUT
	Publish the jacobian of the feature according to the robot state. More...

SignalTimeDependent< dynamicgraph::Vector, sigtime_t >	errorSOUT
	Publish the error between the desired and the current value of the feature. More...

	Feature1D (const std::string &name)
	Default constructor. More...

virtual	~Feature1D (void)
	Default destructor. More...

virtual size_type &	getDimension (size_type &dim, sigtime_t time)
	Get the dimension of the feature. 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< sigtime_t > * >	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< sigtime_t > &signals)

Protected Attributes inherited from dynamicgraph::Entity
CommandMap_t	commandMap

Logger	logger_

std::string	name

SignalMap	signalMap

Private Member Functions inherited from dynamicgraph::sot::FeatureReferenceHelper< Feature1D >
	FeatureReferenceHelper (void)

Feature1D *	getReference (void)

const Feature1D *	getReference (void) const

bool	isReferenceSet (void) const

void	setReference (FeatureAbstract *sdes)

void	unsetReference (void)

Detailed Description

Simple test: the task is defined to be e_2 = .5 . e'.e, with e the mother task. The jacobian is then J_2 = e'.J, J being the jacobian of the mother task.

Definition at line 48 of file feature-1d.hh.

Constructor & Destructor Documentation

◆ Feature1D()

Feature1D::Feature1D ( const std::string & name )

Default constructor.

Definition at line 30 of file feature-1d.cpp.

◆ ~Feature1D()

virtual dynamicgraph::sot::Feature1D::~Feature1D ( void )

inlinevirtual

Default destructor.

Definition at line 89 of file feature-1d.hh.

Member Function Documentation

◆ computeError()

dynamicgraph::Vector & Feature1D::computeError	(	dynamicgraph::Vector &	res,
		sigtime_t	time
	)

virtual

Compute the error between the desired value and the value itself.

Implements dynamicgraph::sot::FeatureAbstract.

Definition at line 61 of file feature-1d.cpp.

◆ computeJacobian()

dynamicgraph::Matrix & Feature1D::computeJacobian	(	dynamicgraph::Matrix &	res,
		sigtime_t	time
	)

virtual

Compute the Jacobian of the value according to the robot state..

Implements dynamicgraph::sot::FeatureAbstract.

Definition at line 70 of file feature-1d.cpp.

◆ DECLARE_REFERENCE_FUNCTIONS()

dynamicgraph::sot::Feature1D::DECLARE_REFERENCE_FUNCTIONS ( Feature1D )

◆ display()

void Feature1D::display ( std::ostream & os ) const

virtual

Display the information related to this 1D implementation.

Reimplemented from dynamicgraph::Entity.

Definition at line 90 of file feature-1d.cpp.

◆ getClassName()

virtual const std::string& dynamicgraph::sot::Feature1D::getClassName ( void ) const

inlinevirtual

Returns the name of the class.

Reimplemented from dynamicgraph::sot::FeatureAbstract.

Definition at line 54 of file feature-1d.hh.

◆ getDimension()

size_type & Feature1D::getDimension	(	size_type &	dim,
		sigtime_t	time
	)

virtual

Get the dimension of the feature.

Implements dynamicgraph::sot::FeatureAbstract.

Definition at line 52 of file feature-1d.cpp.

Member Data Documentation

◆ CLASS_NAME

const std::string dynamicgraph::sot::Feature1D::CLASS_NAME

static

Field storing the class name.

Definition at line 52 of file feature-1d.hh.

◆ errorSIN

dynamicgraph::SignalPtr<dynamicgraph::Vector, sigtime_t> dynamicgraph::sot::Feature1D::errorSIN

Input for the error.

Definition at line 66 of file feature-1d.hh.

◆ errorSOUT

SignalTimeDependent<dynamicgraph::Vector, sigtime_t> dynamicgraph::sot::FeatureAbstract::errorSOUT

Publish the error between the desired and the current value of the feature.

Definition at line 185 of file feature-abstract.hh.

◆ jacobianSIN

dynamicgraph::SignalPtr<dynamicgraph::Matrix, sigtime_t> dynamicgraph::sot::Feature1D::jacobianSIN

Input for the Jacobian.

Definition at line 69 of file feature-1d.hh.

◆ jacobianSOUT

SignalTimeDependent<dynamicgraph::Matrix, sigtime_t> dynamicgraph::sot::FeatureAbstract::jacobianSOUT

Publish the jacobian of the feature according to the robot state.

Definition at line 193 of file feature-abstract.hh.

The documentation for this class was generated from the following files:

Public Member Functions

Public Attributes

Static Public Attributes

Output signals

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Feature1D()

◆ ~Feature1D()

Member Function Documentation

◆ computeError()

◆ computeJacobian()

◆ DECLARE_REFERENCE_FUNCTIONS()

◆ display()

◆ getClassName()

◆ getDimension()

Member Data Documentation

◆ CLASS_NAME

◆ errorSIN

◆ errorSOUT

◆ jacobianSIN

◆ jacobianSOUT