This class gives the abstract definition of a feature. More...

#include <sot/core/feature-abstract.hh>

Inheritance diagram for dynamicgraph::sot::FeatureAbstract:

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

void	featureRegistration (void)
	Register the feature in the stack of tasks. More...

void	initCommands (void)

	FeatureAbstract (const std::string &name)
	Default constructor: the name of the class should be given. More...

virtual	~FeatureAbstract (void)
	Default destructor. More...

Methods returning the dimension of the feature.
virtual unsigned int &	getDimension (unsigned int &res, int time)=0
	Verbose method. More...

unsigned int	getDimension (int time)
	Short method. More...

unsigned int	getDimension (void) const
	Shortest method. More...

Methods to control internal computation.
The main idea is that some feature may have a lower frequency than the internal control loop. In this case, the methods for computation are called only when needed.
virtual dg::Vector &	computeError (dg::Vector &res, int time)=0
	Compute the error between the desired feature and the current value of the feature measured or deduced from the robot state. More...

virtual dg::Matrix &	computeJacobian (dg::Matrix &res, int time)=0
	Compute the Jacobian of the error according the robot state. More...

virtual dg::Vector &	computeErrorDot (dg::Vector &res, int time)
	Callback for signal errordotSOUT. More...

Reference
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

Public Member Functions inherited from dynamicgraph::Entity
	Entity (const std::string &name)

virtual	~Entity ()

const std::string &	getName () const

virtual std::string	getDocString () const

bool	hasSignal (const std::string &signame) const

SignalBase< int > &	getSignal (const std::string &signalName)

const SignalBase< int > &	getSignal (const std::string &signalName) const

std::ostream &	displaySignalList (std::ostream &os) const

virtual std::ostream &	writeCompletionList (std::ostream &os) const

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

virtual SignalBase< int > *	test ()

virtual void	test2 (SignalBase< int > *)

const std::string &	getCommandList () const

CommandMap_t	getNewStyleCommandMap ()

command::Command *	getNewStyleCommand (const std::string &cmdName)

SignalMap	getSignalMap () const

void	sendMsg (const std::string &msg, MsgType t=MSG_TYPE_INFO, const char *file="", int line=0)

void	setLoggerVerbosityLevel (LoggerVerbosity lv)

LoggerVerbosity	getLoggerVerbosityLevel ()

Public Attributes
Input signals:
SignalPtr< Flags, int >	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 \( [ 0 1 0] \). More...

SignalPtr< dg::Vector, int >	errordotSIN
	Derivative of the reference value. More...

Static Public Attributes
static const std::string	CLASS_NAME
	Store the name of the class. More...

Output signals:
SignalTimeDependent< dg::Vector, int >	errorSOUT
	This signal returns the error between the desired value and the current value : \( {\bf s}^*(t) - {\bf s}(t)\). More...

SignalTimeDependent< dg::Vector, int >	errordotSOUT
	Derivative of the reference value. More...

SignalTimeDependent< dg::Matrix, int >	jacobianSOUT
	This signal returns the Jacobian of the current value according to the robot state: \( J(t) = \frac{\delta{\bf s}^*(t)}{\delta {\bf q}(t)}\). More...

SignalTimeDependent< unsigned int, int >	dimensionSOUT
	Returns the dimension of the feature as an output signal. More...

virtual std::ostream &	writeGraph (std::ostream &os) const
	This method write a graph description on the file named FileName. More...

virtual SOT_CORE_DEPRECATED bool	withErrorDot (void) const
	Return true for children that provide the errordot output signal. More...

virtual SignalTimeDependent< dg::Vector, int > &	getErrorDot ()

Additional Inherited Members
Public Types inherited from dynamicgraph::Entity
typedef std::map< std::string, SignalBase< int > * >	SignalMap

typedef std::map< const std::string, command::Command * >	CommandMap_t

Protected Member Functions inherited from dynamicgraph::Entity
void	addCommand (const std::string &name, command::Command *command)

void	entityRegistration ()

void	entityDeregistration ()

void	signalRegistration (const SignalArray< int > &signals)

void	signalDeregistration (const std::string &name)

Protected Attributes inherited from dynamicgraph::Entity
std::string	name

SignalMap	signalMap

CommandMap_t	commandMap

Logger	logger_

Detailed Description

This class gives the abstract definition of a feature.

In short, a feature is a data evolving according to time. It is defined by a vector \({\bf s}(t) \in \mathbb{R}^n \) where \( t \) is the time. By default a feature has a desired \({\bf s}^*(t) \). \({\bf s}^*\) is provided by another feature of the same type called reference. The feature is in charge of collecting its own current state. A feature is supposed to compute an error between its current state and the desired one: \( e(t) = {\bf s}^*(t) - {\bf s}(t) \). A feature is supposed to compute a Jacobian according to the robot state vector \( \frac{\delta {\bf s}(t)}{\delta {\bf q}(t)}\).

The task is in general computed from the value of the feature at the current instant \(f(q(t),t)\), the Jacobian \(J\) and evolution of the feature with respect to time: \(\frac{\partial f}{\partial t}\).

Feature diagram: Feature types derive from FeatureAbstract. Each feature has a reference of the same type and compute an error by comparing errorSIN signals from itself and from the reference.

Constructor & Destructor Documentation

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

Default constructor: the name of the class should be given.

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

inlinevirtual

Default destructor.

Member Function Documentation

virtual void dynamicgraph::sot::FeatureAbstract::addDependenciesFromReference ( void )

pure virtual

virtual dg::Vector& dynamicgraph::sot::FeatureAbstract::computeError	(	dg::Vector &	res,
		int	time
	)

pure virtual

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.

Implemented in dynamicgraph::sot::FeatureGeneric, dynamicgraph::sot::Feature1D, dynamicgraph::sot::FeaturePoint6d, dynamicgraph::sot::FeatureJointLimits, dynamicgraph::sot::FeaturePoint6dRelative, dynamicgraph::sot::FeatureLineDistance, dynamicgraph::sot::FeatureVisualPoint, dynamicgraph::sot::FeatureVector3, and dynamicgraph::sot::FeaturePosture.

virtual dg::Vector& dynamicgraph::sot::FeatureAbstract::computeErrorDot	(	dg::Vector &	res,
		int	time
	)

virtual

Callback for signal errordotSOUT.

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

Reimplemented in dynamicgraph::sot::FeaturePoint6dRelative, and dynamicgraph::sot::FeaturePosture.

virtual dg::Matrix& dynamicgraph::sot::FeatureAbstract::computeJacobian	(	dg::Matrix &	res,
		int	time
	)

pure virtual

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.

Implemented in dynamicgraph::sot::FeatureGeneric, dynamicgraph::sot::Feature1D, dynamicgraph::sot::FeaturePoint6d, dynamicgraph::sot::FeatureJointLimits, dynamicgraph::sot::FeaturePoint6dRelative, dynamicgraph::sot::FeatureLineDistance, dynamicgraph::sot::FeatureVisualPoint, dynamicgraph::sot::FeatureVector3, and dynamicgraph::sot::FeaturePosture.

void dynamicgraph::sot::FeatureAbstract::featureRegistration ( void )

Register the feature in the stack of tasks.

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

inlinevirtual

Returns the name class.

Reimplemented from dynamicgraph::Entity.

Reimplemented in dynamicgraph::sot::FeatureGeneric, dynamicgraph::sot::Feature1D, dynamicgraph::sot::FeaturePoint6dRelative, dynamicgraph::sot::FeaturePoint6d, dynamicgraph::sot::FeatureVector3, dynamicgraph::sot::FeatureJointLimits, dynamicgraph::sot::FeatureLineDistance, dynamicgraph::sot::FeatureVisualPoint, and dynamicgraph::sot::FeatureTask.

virtual unsigned int& dynamicgraph::sot::FeatureAbstract::getDimension	(	unsigned int &	res,
		int	time
	)

pure 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.

Implemented in dynamicgraph::sot::FeatureGeneric, dynamicgraph::sot::Feature1D, dynamicgraph::sot::FeaturePoint6d, dynamicgraph::sot::FeatureJointLimits, dynamicgraph::sot::FeatureLineDistance, dynamicgraph::sot::FeatureVisualPoint, dynamicgraph::sot::FeatureVector3, and dynamicgraph::sot::FeaturePosture.

unsigned int dynamicgraph::sot::FeatureAbstract::getDimension ( int time )

inline

Short method.

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.

unsigned int dynamicgraph::sot::FeatureAbstract::getDimension ( void ) const

inline

Shortest method.

Returns: Dimension of the feature.

Note: The feature is not changing its dimension according to time.

virtual SignalTimeDependent<dg::Vector,int>& dynamicgraph::sot::FeatureAbstract::getErrorDot ( )

inlinevirtual

virtual const FeatureAbstract* dynamicgraph::sot::FeatureAbstract::getReferenceAbstract ( void ) const

pure virtual

virtual FeatureAbstract* dynamicgraph::sot::FeatureAbstract::getReferenceAbstract ( void )

pure virtual

std::string dynamicgraph::sot::FeatureAbstract::getReferenceByName ( void ) const

void dynamicgraph::sot::FeatureAbstract::initCommands ( void )

virtual bool dynamicgraph::sot::FeatureAbstract::isReferenceSet ( void ) const

inlinevirtual

virtual void dynamicgraph::sot::FeatureAbstract::removeDependenciesFromReference ( void )

pure virtual

virtual void dynamicgraph::sot::FeatureAbstract::setReference ( FeatureAbstract * sdes )

pure virtual

void dynamicgraph::sot::FeatureAbstract::setReferenceByName ( const std::string & name )

virtual void dynamicgraph::sot::FeatureAbstract::unsetReference ( void )

inlinevirtual

virtual SOT_CORE_DEPRECATED bool dynamicgraph::sot::FeatureAbstract::withErrorDot ( void ) const

inlinevirtual

Return true for children that provide the errordot output signal.

virtual std::ostream& dynamicgraph::sot::FeatureAbstract::writeGraph ( std::ostream & os ) const

virtual

This method write a graph description on the file named FileName.

Reimplemented from dynamicgraph::Entity.

Member Data Documentation

const std::string dynamicgraph::sot::FeatureAbstract::CLASS_NAME

static

Store the name of the class.

SignalTimeDependent<unsigned int,int> dynamicgraph::sot::FeatureAbstract::dimensionSOUT

Returns the dimension of the feature as an output signal.

SignalPtr< dg::Vector,int > dynamicgraph::sot::FeatureAbstract::errordotSIN

Derivative of the reference value.

SignalTimeDependent< dg::Vector,int > dynamicgraph::sot::FeatureAbstract::errordotSOUT

Derivative of the reference value.

SignalTimeDependent<dg::Vector,int> dynamicgraph::sot::FeatureAbstract::errorSOUT

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

SignalTimeDependent<dg::Matrix,int> dynamicgraph::sot::FeatureAbstract::jacobianSOUT

This signal returns the Jacobian of the current value according to the robot state: \( J(t) = \frac{\delta{\bf s}^*(t)}{\delta {\bf q}(t)}\).

SignalPtr< Flags,int > 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 \( [ 0 1 0] \).

Public Member Functions

Public Attributes

Static Public Attributes

Output signals:

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation