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

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

#include <feature-joint-limits.hh>

Inheritance diagram for dynamicgraph::sot::FeatureJointLimits:
Inheritance graph
[legend]

Public Member Functions

virtual dynamicgraph::VectorcomputeError (dynamicgraph::Vector &res, sigtime_t time)
 
virtual dynamicgraph::MatrixcomputeJacobian (dynamicgraph::Matrix &res, sigtime_t time)
 
dynamicgraph::VectorcomputeWidthJl (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_typegetDimension (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::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 ()
 

Static Public Member Functions

static Flags selectActuated (void)
 

Public Attributes

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::Matrix, sigtime_tjacobianSOUT
 Jacobian of the error wrt the robot state: $ J = \frac{\partial {\bf s}}{\partial {\bf q}}$. More...
 
dynamicgraph::SignalPtr< dynamicgraph::Vector, sigtime_tjointSIN
 
dynamicgraph::SignalPtr< dynamicgraph::Vector, sigtime_tlowerJlSIN
 
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...
 
dynamicgraph::SignalPtr< dynamicgraph::Vector, sigtime_tupperJlSIN
 
dynamicgraph::SignalTimeDependent< dynamicgraph::Vector, sigtime_twidthJlSINTERN
 
- 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...
 

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)
 
FeatureJointLimitsgetReference (void)
 
const FeatureJointLimitsgetReference (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:


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