Public Member Functions | Static Public Attributes | List of all members
dynamicgraph::sot::Feature1D Class Reference

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:
Inheritance graph
[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::VectorcomputeError (dynamicgraph::Vector &res, sigtime_t time)
 Compute the error between the desired value and the value itself. More...
 
virtual dynamicgraph::MatrixcomputeJacobian (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::VectorcomputeErrorDot (dynamicgraph::Vector &res, sigtime_t time)
 
virtual void setReference (FeatureAbstract *sdes)=0
 
virtual void unsetReference (void)
 
virtual const FeatureAbstractgetReferenceAbstract (void) const =0
 
virtual FeatureAbstractgetReferenceAbstract (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::CommandgetNewStyleCommand (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
 
Loggerlogger ()
 
Loggerlogger ()
 
const Loggerlogger () const
 
const Loggerlogger () 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_terrorSIN
 Input for the error. More...
 
dynamicgraph::SignalPtr< dynamicgraph::Matrix, sigtime_tjacobianSIN
 Input for the Jacobian. More...
 
- Public Attributes inherited from dynamicgraph::sot::FeatureAbstract
SignalPtr< Flags, sigtime_tselectionSIN
 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] $. More...
 
SignalPtr< dynamicgraph::Vector, sigtime_terrordotSIN
 Derivative of the reference value. More...
 
SignalTimeDependent< dynamicgraph::Vector, sigtime_terrorSOUT
 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_terrordotSOUT
 Derivative of the error with respect to time: $ \frac{\partial e}{\partial t} = - \frac{d{\bf s}^*}{dt} $. More...
 
SignalTimeDependent< dynamicgraph::Matrix, sigtime_tjacobianSOUT
 Jacobian of the error wrt the robot state: $ J = \frac{\partial {\bf s}}{\partial {\bf q}}$. More...
 
SignalTimeDependent< size_type, sigtime_tdimensionSOUT
 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_tjacobianSOUT
 Publish the jacobian of the feature according to the robot state. More...
 
SignalTimeDependent< dynamicgraph::Vector, sigtime_terrorSOUT
 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_typegetDimension (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)
 
Feature1DgetReference (void)
 
const Feature1DgetReference (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:


sot-core
Author(s): Olivier Stasse, ostasse@laas.fr
autogenerated on Tue Oct 24 2023 02:26:32