dynamicgraph::sot::Feature1D Class Reference
Simple test: the task is defined to be e_2 = .5 . e'.e, with e the mother task. The jacobian is then J_2 = e'.J, J being the jacobian of the mother task. More...
#include <sot/core/feature-1d.hh>
Inheritance diagram for dynamicgraph::sot::Feature1D:
Public Member Functions | |
| virtual const std::string & | getClassName (void) const |
| virtual void | display (std::ostream &os) const |
| Display the information related to this 1D implementation. More... | |
Output signals | |
| Feature1D (const std::string &name) | |
| Default constructor. More... | |
| virtual | ~Feature1D (void) |
| Default destructor. More... | |
| virtual unsigned int & | getDimension (unsigned int &dim, int time) |
| Get the dimension of the feature. More... | |
Methods to trigger computation related to this feature. | |
| virtual dg::Vector & | computeError (dg::Vector &res, int time) |
| Compute the error between the desired value and the value itself. More... | |
| virtual dg::Matrix & | computeJacobian (dg::Matrix &res, int time) |
| Compute the Jacobian of the value according to the robot state.. More... | |
Dealing with the reference value to be reach with this feature. | |
| DECLARE_REFERENCE_FUNCTIONS (Feature1D) | |
 Public Member Functions inherited from dynamicgraph::sot::FeatureAbstract | |
| 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... | |
| unsigned int | getDimension (int time) |
| Short method. More... | |
| unsigned int | getDimension (void) const |
| Shortest method. More... | |
| virtual dg::Vector & | computeErrorDot (dg::Vector &res, int time) |
| Callback for signal errordotSOUT. 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< dg::Vector, int > & | getErrorDot () |
Public Attributes | |
Input signals | |
| dg::SignalPtr< dg::Vector, int > | errorSIN |
| Input for the error. More... | |
| dg::SignalPtr< dg::Matrix, int > | jacobianSIN |
| Input for the Jacobian. More... | |
| Public Attributes inherited from dynamicgraph::sot::FeatureAbstract | |
| 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... | |
| SignalTimeDependent< dg::Vector, int > | errorSOUT |
| This signal returns the error between the desired value and the current value : \( E(t) = {\bf s}(t) - {\bf s}^*(t)\). More... | |
| SignalTimeDependent< dg::Vector, int > | errordotSOUT |
| Derivative of the error with respect to time: \( \frac{\partial e}{\partial t} = - \frac{d{\bf s}^*}{dt} \). More... | |
| SignalTimeDependent< dg::Matrix, int > | jacobianSOUT |
| Jacobian of the error wrt the robot state: \( J = \frac{\partial {\bf s}}{\partial {\bf q}}\). More... | |
| SignalTimeDependent< unsigned int, int > | dimensionSOUT |
| 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 |
| Store the name of the class. More... | |
Detailed Description
Simple test: the task is defined to be e_2 = .5 . e'.e, with e the mother task. The jacobian is then J_2 = e'.J, J being the jacobian of the mother task.
Constructor & Destructor Documentation
◆ Feature1D()
| dynamicgraph::sot::Feature1D::Feature1D | ( | const std::string & | name | ) |
Default constructor.
◆ ~Feature1D()
|
inlinevirtual |
Default destructor.
References DECLARE_REFERENCE_FUNCTIONS.
Member Function Documentation
◆ computeError()
|
virtual |
Compute the error between the desired value and the value itself.
Implements dynamicgraph::sot::FeatureAbstract.
◆ computeJacobian()
|
virtual |
Compute the Jacobian of the value according to the robot state..
Implements dynamicgraph::sot::FeatureAbstract.
◆ DECLARE_REFERENCE_FUNCTIONS()
| dynamicgraph::sot::Feature1D::DECLARE_REFERENCE_FUNCTIONS | ( | Feature1D | ) |
◆ display()
|
virtual |
Display the information related to this 1D implementation.
◆ getClassName()
|
inlinevirtual |
Returns the name of the class.
Reimplemented from dynamicgraph::sot::FeatureAbstract.
◆ getDimension()
|
virtual |
Get the dimension of the feature.
Implements dynamicgraph::sot::FeatureAbstract.
Member Data Documentation
◆ CLASS_NAME
|
static |
Field storing the class name.
◆ errorSIN
| dg::SignalPtr<dg::Vector, int> dynamicgraph::sot::Feature1D::errorSIN |
Input for the error.
◆ jacobianSIN
| dg::SignalPtr<dg::Matrix, int> dynamicgraph::sot::Feature1D::jacobianSIN |
Input for the Jacobian.
