op-point-modifier.hh

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/*
 * Copyright 2010,
 * François Bleibel,
 * Olivier Stasse,
 *
 * CNRS/AIST
 *
 */
 
#ifndef __SOT_OP_POINT_MODIFIOR_H__
#define __SOT_OP_POINT_MODIFIOR_H__
 
#include <dynamic-graph/all-signals.h>
#include <dynamic-graph/entity.h>
 
#include <sot/core/debug.hh>
#include <sot/core/matrix-geometry.hh>
 
/* Matrix */
#include <dynamic-graph/linear-algebra.h>
 
/* --------------------------------------------------------------------- */
/* --- API ------------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
#if defined(WIN32)
#if defined(op_point_modifier_EXPORTS)
#define SOTOPPOINTMODIFIER_EXPORT __declspec(dllexport)
#else
#define SOTOPPOINTMODIFIER_EXPORT __declspec(dllimport)
#endif
#else
#define SOTOPPOINTMODIFIER_EXPORT
#endif
 
/* --------------------------------------------------------------------- */
/* --- VECTOR ---------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
namespace dynamicgraph {
namespace sot {
 
class SOTOPPOINTMODIFIER_EXPORT OpPointModifier : public dynamicgraph::Entity {
 public:
  static const std::string CLASS_NAME;
  virtual const std::string &getClassName(void) const { return CLASS_NAME; }
 
 public:
  dynamicgraph::SignalPtr<dynamicgraph::Matrix, sigtime_t> jacobianSIN;
  dynamicgraph::SignalPtr<MatrixHomogeneous, sigtime_t> positionSIN;
 
  dynamicgraph::SignalTimeDependent<dynamicgraph::Matrix, sigtime_t>
      jacobianSOUT;
  dynamicgraph::SignalTimeDependent<MatrixHomogeneous, sigtime_t> positionSOUT;
 
 public:
  OpPointModifier(const std::string &name);
  virtual ~OpPointModifier(void) {}
 
  dynamicgraph::Matrix &jacobianSOUT_function(dynamicgraph::Matrix &res,
                                              const sigtime_t &time);
  MatrixHomogeneous &positionSOUT_function(MatrixHomogeneous &res,
                                           const sigtime_t &time);
  void setTransformation(const Eigen::Matrix4d &tr);
  void setTransformationBySignalName(std::istringstream &cmdArgs);
  const Eigen::Matrix4d &getTransformation(void);
 
 private:
  MatrixHomogeneous transformation;
 
  /* This bool tunes the effect of the modifier for end-effector Jacobian (ie
   * the output velocity is expressed in the end-effector frame) of from the
   * world-ref Jacobian (ie
   * the ouput velocity is computed in the world frame). */
  bool isEndEffector;
};
 
} /* namespace sot */
} /* namespace dynamicgraph */
 
#endif  //  __SOT_OP_POINT_MODIFIOR_H__