#include <feature-posture.hh>

Inheritance diagram for dynamicgraph::sot::FeaturePosture:

Classes
class	SelectDof

Public Types
typedef dynamicgraph::SignalPtr< dynamicgraph::Vector, sigtime_t >	signalIn_t

typedef dynamicgraph::SignalTimeDependent< dynamicgraph::Vector, sigtime_t >	signalOut_t

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

Public Member Functions
	FeaturePosture (const std::string &name)

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

void	selectDof (std::size_t dofId, bool control)

virtual	~FeaturePosture ()

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...

virtual const std::string &	getClassName (void) const
	Returns the name class. 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 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
virtual void	display (std::ostream &os) const

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
	DECLARE_NO_REFERENCE

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...

Protected Member Functions
virtual dynamicgraph::Vector &	computeError (dynamicgraph::Vector &res, sigtime_t)
	Compute the error between the desired feature and the current value of the feature measured or deduced from the robot state. More...

virtual dynamicgraph::Vector &	computeErrorDot (dynamicgraph::Vector &res, sigtime_t time)

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

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
signalOut_t	error_

signalIn_t	posture_

signalIn_t	postureDot_

signalIn_t	state_

Protected Attributes inherited from dynamicgraph::Entity
CommandMap_t	commandMap

Logger	logger_

std::string	name

SignalMap	signalMap

Private Member Functions
	DYNAMIC_GRAPH_ENTITY_DECL ()

Private Attributes
std::vector< bool >	activeDofs_

std::size_t	nbActiveDofs_

Friends
class	SelectDof

Additional Inherited Members
Static Public Attributes inherited from dynamicgraph::sot::FeatureAbstract
static const std::string	CLASS_NAME = "FeatureAbstract"
	Store the name of the class. More...

Detailed Description

Feature that observes the posture of the robot, ie whose Jacobian is the identity, or slices of the identity. This feature can be exactly obtained with a generic posture, given the identity matrix as the input Jacobian, the identity matrix. It is even prefereable, as the reference value is then given by a signal, which can be reevalutated at each iteration, for example to track a reference trajectory in the configuration space. See for example the toFlag python function in the sot-dyninv module to nicely selec the posture DOF.

Definition at line 49 of file feature-posture.hh.

Member Typedef Documentation

◆ signalIn_t

typedef dynamicgraph::SignalPtr<dynamicgraph::Vector, sigtime_t> dynamicgraph::sot::FeaturePosture::signalIn_t

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

◆ signalOut_t

typedef dynamicgraph::SignalTimeDependent<dynamicgraph::Vector, sigtime_t> dynamicgraph::sot::FeaturePosture::signalOut_t

Definition at line 58 of file feature-posture.hh.

Constructor & Destructor Documentation

◆ FeaturePosture()

dynamicgraph::sot::FeaturePosture::FeaturePosture ( const std::string & name )

explicit

Definition at line 38 of file feature-posture.cpp.

◆ ~FeaturePosture()

dynamicgraph::sot::FeaturePosture::~FeaturePosture ( )

virtual

Definition at line 67 of file feature-posture.cpp.

Member Function Documentation

◆ computeError()

dg::Vector & dynamicgraph::sot::FeaturePosture::computeError	(	dynamicgraph::Vector &	res,
		sigtime_t	time
	)

protectedvirtual

Compute the error between the desired feature and the current value of the feature measured or deduced from the robot state.

[out] res: The error will be set into res.

[in] time: The time at which the error is computed.

Returns: The vector res with the appropriate value.

Implements dynamicgraph::sot::FeatureAbstract.

Definition at line 74 of file feature-posture.cpp.

◆ computeErrorDot()

dg::Vector & dynamicgraph::sot::FeaturePosture::computeErrorDot	(	dynamicgraph::Vector &	res,
		sigtime_t	time
	)

protectedvirtual

Callback for signal errordotSOUT

Copy components of the input signal errordotSIN defined by selection flag selectionSIN.

Reimplemented from dynamicgraph::sot::FeatureAbstract.

Definition at line 95 of file feature-posture.cpp.

◆ computeJacobian()

dg::Matrix & dynamicgraph::sot::FeaturePosture::computeJacobian	(	dynamicgraph::Matrix &	res,
		sigtime_t	time
	)

protectedvirtual

Compute the Jacobian of the error according the robot state.

[out] res: The matrix in which the error will be written.

Returns: The matrix res with the appropriate values.

Implements dynamicgraph::sot::FeatureAbstract.

Definition at line 89 of file feature-posture.cpp.

◆ DYNAMIC_GRAPH_ENTITY_DECL()

dynamicgraph::sot::FeaturePosture::DYNAMIC_GRAPH_ENTITY_DECL ( )

private

◆ getDimension()

size_type & dynamicgraph::sot::FeaturePosture::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 69 of file feature-posture.cpp.

◆ selectDof()

void dynamicgraph::sot::FeaturePosture::selectDof	(	std::size_t	dofId,
		bool	control
	)

Definition at line 106 of file feature-posture.cpp.

Friends And Related Function Documentation

◆ SelectDof

friend class SelectDof

friend

Definition at line 50 of file feature-posture.hh.

Member Data Documentation

◆ activeDofs_

std::vector<bool> dynamicgraph::sot::FeaturePosture::activeDofs_

private

Definition at line 81 of file feature-posture.hh.

◆ DECLARE_NO_REFERENCE

dynamicgraph::sot::FeaturePosture::DECLARE_NO_REFERENCE

Definition at line 60 of file feature-posture.hh.

◆ error_

signalOut_t dynamicgraph::sot::FeaturePosture::error_

protected

Definition at line 78 of file feature-posture.hh.

◆ nbActiveDofs_

std::size_t dynamicgraph::sot::FeaturePosture::nbActiveDofs_

private

Definition at line 82 of file feature-posture.hh.

◆ posture_

signalIn_t dynamicgraph::sot::FeaturePosture::posture_

protected

Definition at line 76 of file feature-posture.hh.

◆ postureDot_

signalIn_t dynamicgraph::sot::FeaturePosture::postureDot_

protected

Definition at line 77 of file feature-posture.hh.

◆ state_

signalIn_t dynamicgraph::sot::FeaturePosture::state_

protected

Definition at line 75 of file feature-posture.hh.

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

Classes

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Friends

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ signalIn_t

◆ signalOut_t

Constructor & Destructor Documentation

◆ FeaturePosture()

◆ ~FeaturePosture()

Member Function Documentation

◆ computeError()

◆ computeErrorDot()

◆ computeJacobian()

◆ DYNAMIC_GRAPH_ENTITY_DECL()

◆ getDimension()

◆ selectDof()

Friends And Related Function Documentation

◆ SelectDof

Member Data Documentation

◆ activeDofs_

◆ DECLARE_NO_REFERENCE

◆ error_

◆ nbActiveDofs_

◆ posture_

◆ postureDot_

◆ state_