feature-1d.hh
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1 /*
2  * Copyright 2010,
3  * François Bleibel,
4  * Olivier Stasse,
5  *
6  * CNRS/AIST
7  *
8  */
9 
10 #ifndef __SOT_FEATURE_1D_HH__
11 #define __SOT_FEATURE_1D_HH__
12 
13 /* --------------------------------------------------------------------- */
14 /* --- INCLUDE --------------------------------------------------------- */
15 /* --------------------------------------------------------------------- */
16 
17 /* SOT */
20 
21 /* --------------------------------------------------------------------- */
22 /* --- API ------------------------------------------------------------- */
23 /* --------------------------------------------------------------------- */
24 
25 #if defined(WIN32)
26 #if defined(feature_1d_EXPORTS)
27 #define SOTFEATURE1D_EXPORT __declspec(dllexport)
28 #else
29 #define SOTFEATURE1D_EXPORT __declspec(dllimport)
30 #endif
31 #else
32 #define SOTFEATURE1D_EXPORT
33 #endif
34 
35 /* --------------------------------------------------------------------- */
36 /* --- CLASS ----------------------------------------------------------- */
37 /* --------------------------------------------------------------------- */
38 
39 namespace dynamicgraph {
40 namespace sot {
49  FeatureReferenceHelper<Feature1D> {
50  public:
52  static const std::string CLASS_NAME;
54  virtual const std::string &getClassName(void) const { return CLASS_NAME; }
55 
56  protected:
57  /* --- SIGNALS ------------------------------------------------------------ */
58  public:
67 
70 
79 
83 
84  public:
86  Feature1D(const std::string &name);
87 
89  virtual ~Feature1D(void) {}
90 
92  virtual size_type &getDimension(size_type &dim, sigtime_t time);
93 
100  virtual dynamicgraph::Vector &computeError(dynamicgraph::Vector &res,
101  sigtime_t time);
102 
104  virtual dynamicgraph::Matrix &computeJacobian(dynamicgraph::Matrix &res,
105  sigtime_t time);
106 
110  virtual void display(std::ostream &os) const;
111 
117 };
118 
119 } /* namespace sot */
120 } /* namespace dynamicgraph */
121 
122 #endif // #ifndef __SOT_FEATURE_1D_HH__
123 
124 /*
125  * Local variables:
126  * c-basic-offset: 2
127  * End:
128  */
dynamicgraph::sot::Feature1D::errorSIN
dynamicgraph::SignalPtr< dynamicgraph::Vector, sigtime_t > errorSIN
Input for the error.
Definition: feature-1d.hh:66
dynamicgraph::sot::FeatureAbstract::errorSOUT
SignalTimeDependent< dynamicgraph::Vector, sigtime_t > errorSOUT
This signal returns the error between the desired value and the current value : .
Definition: feature-abstract.hh:185
dynamicgraph::sot::FeatureReferenceHelper
Definition: feature-abstract.hh:229
dynamicgraph::SignalPtr< dynamicgraph::Vector, sigtime_t >
dynamicgraph
dynamicgraph::sot::Feature1D::CLASS_NAME
static const std::string CLASS_NAME
Definition: feature-1d.hh:52
DECLARE_REFERENCE_FUNCTIONS
#define DECLARE_REFERENCE_FUNCTIONS(FeatureSpecialized)
Definition: feature-abstract.hh:251
dynamicgraph::Matrix
Eigen::MatrixXd Matrix
dynamicgraph::sot::Feature1D
Simple test: the task is defined to be e_2 = .5 . e'.e, with e the mother task. The jacobian is then ...
Definition: feature-1d.hh:48
dynamicgraph::sot::FeatureAbstract::jacobianSOUT
SignalTimeDependent< dynamicgraph::Matrix, sigtime_t > jacobianSOUT
Jacobian of the error wrt the robot state: .
Definition: feature-abstract.hh:193
feature-abstract.hh
dynamicgraph::sot::FeatureAbstract
This class gives the abstract definition of a feature.
Definition: feature-abstract.hh:76
dynamicgraph::sigtime_t
int64_t sigtime_t
dynamicgraph::sot::Feature1D::jacobianSIN
dynamicgraph::SignalPtr< dynamicgraph::Matrix, sigtime_t > jacobianSIN
Input for the Jacobian.
Definition: feature-1d.hh:69
SOTFEATURE1D_EXPORT
#define SOTFEATURE1D_EXPORT
Definition: feature-1d.hh:32
dynamicgraph::size_type
Matrix::Index size_type
display
dynamicgraph::Vector
Eigen::VectorXd Vector
exception-task.hh
dynamicgraph::sot::Feature1D::~Feature1D
virtual ~Feature1D(void)
Default destructor.
Definition: feature-1d.hh:89
dynamicgraph::sot::Feature1D::getClassName
virtual const std::string & getClassName(void) const
Definition: feature-1d.hh:54
compile.name
name
Definition: compile.py:23


sot-core
Author(s): Olivier Stasse, ostasse@laas.fr
autogenerated on Tue Oct 24 2023 02:26:31