Class that defines a generic implementation of the abstract interface for features. More...

#include <feature-generic.hh>

Inheritance diagram for dynamicgraph::sot::FeatureGeneric:

[legend]

Public Member Functions
virtual void	display (std::ostream &os) const
	Display the information related to this generic 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 (FeatureGeneric)

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...

Protected Attributes
dynamicgraph::Vector::Index	dimensionDefault

Protected Attributes inherited from dynamicgraph::Entity
CommandMap_t	commandMap

Logger	logger_

std::string	name

SignalMap	signalMap

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...

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

virtual	~FeatureGeneric (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)

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

FeatureGeneric *	getReference (void)

const FeatureGeneric *	getReference (void) const

bool	isReferenceSet (void) const

void	setReference (FeatureAbstract *sdes)

void	unsetReference (void)

Detailed Description

Class that defines a generic implementation of the abstract interface for features.

This class is very useful if the feature can be easily computed using the basic operator provided. For instance a free space controller on a end-effector is basically directly computed from the Jacobian provided by dyn and some appropriate addition and soustraction. Instead of building a specific feature for this, it is possible to use the signals and plug the computed error, Jacobian and activation to the input of this generic feature implementation.

Definition at line 56 of file feature-generic.hh.

Constructor & Destructor Documentation

◆ FeatureGeneric()

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

Default constructor.

Definition at line 29 of file feature-generic.cpp.

◆ ~FeatureGeneric()

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

inlinevirtual

Default destructor.

Definition at line 100 of file feature-generic.hh.

Member Function Documentation

◆ computeError()

Vector & FeatureGeneric::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 78 of file feature-generic.cpp.

◆ computeJacobian()

Matrix & FeatureGeneric::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 118 of file feature-generic.cpp.

◆ DECLARE_REFERENCE_FUNCTIONS()

dynamicgraph::sot::FeatureGeneric::DECLARE_REFERENCE_FUNCTIONS ( FeatureGeneric )

◆ display()

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

virtual

Display the information related to this generic implementation.

Reimplemented from dynamicgraph::Entity.

Reimplemented in dynamicgraph::sot::FeatureTask.

Definition at line 142 of file feature-generic.cpp.

◆ getClassName()

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

inlinevirtual

Returns the name of the class.

Reimplemented from dynamicgraph::sot::FeatureAbstract.

Reimplemented in dynamicgraph::sot::FeatureTask.

Definition at line 63 of file feature-generic.hh.

◆ getDimension()

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

virtual

Get the dimension of the feature.

Implements dynamicgraph::sot::FeatureAbstract.

Definition at line 63 of file feature-generic.cpp.

Member Data Documentation

◆ CLASS_NAME

const std::string dynamicgraph::sot::FeatureGeneric::CLASS_NAME

static

Field storing the class name.

Definition at line 61 of file feature-generic.hh.

◆ dimensionDefault

dynamicgraph::Vector::Index dynamicgraph::sot::FeatureGeneric::dimensionDefault

protected

Definition at line 66 of file feature-generic.hh.

◆ errorSIN

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

Input for the error.

Definition at line 77 of file feature-generic.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::FeatureGeneric::jacobianSIN

Input for the Jacobian.

Definition at line 80 of file feature-generic.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

Protected Attributes

Output signals

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ FeatureGeneric()

◆ ~FeatureGeneric()

Member Function Documentation

◆ computeError()

◆ computeJacobian()

◆ DECLARE_REFERENCE_FUNCTIONS()

◆ display()

◆ getClassName()

◆ getDimension()

Member Data Documentation

◆ CLASS_NAME

◆ dimensionDefault

◆ errorSIN

◆ errorSOUT

◆ jacobianSIN

◆ jacobianSOUT