Class that defines gradient vector for jl avoidance. More...

#include <feature-joint-limits.hh>

Inheritance diagram for dynamicgraph::sot::FeatureJointLimits:

[legend]

Public Member Functions
virtual dynamicgraph::Vector &	computeError (dynamicgraph::Vector &res, sigtime_t time)

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

dynamicgraph::Vector &	computeWidthJl (dynamicgraph::Vector &res, const sigtime_t &time)

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

	FeatureJointLimits (const std::string &name)

virtual const std::string &	getClassName (void) const
	Returns the name class. More...

virtual size_type &	getDimension (size_type &dim, sigtime_t time)
	Verbose method. More...

virtual	~FeatureJointLimits (void)

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

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 ()

Static Public Member Functions
static Flags	selectActuated (void)

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

dynamicgraph::SignalPtr< dynamicgraph::Vector, sigtime_t >	jointSIN

dynamicgraph::SignalPtr< dynamicgraph::Vector, sigtime_t >	lowerJlSIN

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...

dynamicgraph::SignalPtr< dynamicgraph::Vector, sigtime_t >	upperJlSIN

dynamicgraph::SignalTimeDependent< dynamicgraph::Vector, sigtime_t >	widthJlSINTERN

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
double	threshold

Protected Attributes inherited from dynamicgraph::Entity
CommandMap_t	commandMap

Logger	logger_

std::string	name

SignalMap	signalMap

Static Protected Attributes
const static double	THRESHOLD_DEFAULT = .9

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< FeatureJointLimits >
	FeatureReferenceHelper (void)

FeatureJointLimits *	getReference (void)

const FeatureJointLimits *	getReference (void) const

bool	isReferenceSet (void) const

void	setReference (FeatureAbstract *sdes)

void	unsetReference (void)

Detailed Description

Class that defines gradient vector for jl avoidance.

Definition at line 46 of file feature-joint-limits.hh.

Constructor & Destructor Documentation

◆ FeatureJointLimits()

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

Definition at line 34 of file feature-joint-limits.cpp.

◆ ~FeatureJointLimits()

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

inlinevirtual

Definition at line 82 of file feature-joint-limits.hh.

Member Function Documentation

◆ computeError()

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

virtual

Compute the error between two visual features from a subset a the possible features.

Implements dynamicgraph::sot::FeatureAbstract.

Definition at line 151 of file feature-joint-limits.cpp.

◆ computeJacobian()

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

virtual

Compute the interaction matrix from a subset of the possible features.

Implements dynamicgraph::sot::FeatureAbstract.

Definition at line 109 of file feature-joint-limits.cpp.

◆ computeWidthJl()

Vector & FeatureJointLimits::computeWidthJl	(	dynamicgraph::Vector &	res,
		const sigtime_t &	time
	)

Definition at line 90 of file feature-joint-limits.cpp.

◆ DECLARE_REFERENCE_FUNCTIONS()

dynamicgraph::sot::FeatureJointLimits::DECLARE_REFERENCE_FUNCTIONS ( FeatureJointLimits )

◆ display()

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

virtual

Reimplemented from dynamicgraph::Entity.

Definition at line 185 of file feature-joint-limits.cpp.

◆ getClassName()

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

inlinevirtual

Returns the name class.

Reimplemented from dynamicgraph::sot::FeatureAbstract.

Definition at line 51 of file feature-joint-limits.hh.

◆ getDimension()

size_type & FeatureJointLimits::getDimension	(	size_type &	res,
		sigtime_t	time
	)

virtual

Verbose method.

res: The integer in which the dimension will be return.

time: The time at which the feature should be considered.

Returns: Dimension of the feature.

Note: Be careful with features changing their dimension according to time.

Implements dynamicgraph::sot::FeatureAbstract.

Definition at line 76 of file feature-joint-limits.cpp.

◆ selectActuated()

static Flags dynamicgraph::sot::FeatureJointLimits::selectActuated ( void )

inlinestatic

Static Feature selection.

Member Data Documentation

◆ CLASS_NAME

const std::string dynamicgraph::sot::FeatureJointLimits::CLASS_NAME

static

Definition at line 50 of file feature-joint-limits.hh.

◆ errorSOUT

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

This signal returns the error between the desired value and the current value : $E(t) = {\bf s}(t) - {\bf s}^*(t)$ .

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

◆ jacobianSOUT

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

Jacobian of the error wrt the robot state: $J = \frac{\partial {\bf s}}{\partial {\bf q}}$ .

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

◆ jointSIN

dynamicgraph::SignalPtr<dynamicgraph::Vector, sigtime_t> dynamicgraph::sot::FeatureJointLimits::jointSIN

Definition at line 63 of file feature-joint-limits.hh.

◆ lowerJlSIN

dynamicgraph::SignalPtr<dynamicgraph::Vector, sigtime_t> dynamicgraph::sot::FeatureJointLimits::lowerJlSIN

Definition at line 65 of file feature-joint-limits.hh.

◆ selectionSIN

SignalPtr<Flags, sigtime_t> dynamicgraph::sot::FeatureAbstract::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 $ [ 0 1 0] $ .

Definition at line 173 of file feature-abstract.hh.

◆ threshold

double dynamicgraph::sot::FeatureJointLimits::threshold

protected

Definition at line 54 of file feature-joint-limits.hh.

◆ THRESHOLD_DEFAULT

const double FeatureJointLimits::THRESHOLD_DEFAULT = .9

staticprotected

Definition at line 55 of file feature-joint-limits.hh.

◆ upperJlSIN

dynamicgraph::SignalPtr<dynamicgraph::Vector, sigtime_t> dynamicgraph::sot::FeatureJointLimits::upperJlSIN

Definition at line 64 of file feature-joint-limits.hh.

◆ widthJlSINTERN

dynamicgraph::SignalTimeDependent<dynamicgraph::Vector, sigtime_t> dynamicgraph::sot::FeatureJointLimits::widthJlSINTERN

Definition at line 67 of file feature-joint-limits.hh.

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

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Protected Attributes

Static Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ FeatureJointLimits()

◆ ~FeatureJointLimits()

Member Function Documentation

◆ computeError()

◆ computeJacobian()

◆ computeWidthJl()

◆ DECLARE_REFERENCE_FUNCTIONS()

◆ display()

◆ getClassName()

◆ getDimension()

◆ selectActuated()

Member Data Documentation

◆ CLASS_NAME

◆ errorSOUT

◆ jacobianSOUT

◆ jointSIN

◆ lowerJlSIN

◆ selectionSIN

◆ threshold

◆ THRESHOLD_DEFAULT

◆ upperJlSIN

◆ widthJlSINTERN