Class that defines gradient vector for jl avoidance. More...

#include <sot/core/feature-joint-limits.hh>

Inheritance diagram for dynamicgraph::sot::FeatureJointLimits:

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

	FeatureJointLimits (const std::string &name)

virtual	~FeatureJointLimits (void)

virtual unsigned int &	getDimension (unsigned int &dim, int time)
	Verbose method. More...

virtual dg::Vector &	computeError (dg::Vector &res, int time)
	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)
	Compute the Jacobian of the error according the robot state. More...

dg::Vector &	computeWidthJl (dg::Vector &res, const int &time)

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

Dealing with the reference value to be reach with this feature.
	DECLARE_REFERENCE_FUNCTIONS (FeatureJointLimits)

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 ()

Static Public Member Functions
static Flags	selectActuated (void)
	Static Feature selection. More...

Public Attributes
dg::SignalPtr< dg::Vector, int >	jointSIN

dg::SignalPtr< dg::Vector, int >	upperJlSIN

dg::SignalPtr< dg::Vector, int >	lowerJlSIN

dg::SignalTimeDependent< dg::Vector, int >	widthJlSINTERN

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...

Protected Attributes
double	threshold

Static Protected Attributes
static const double	THRESHOLD_DEFAULT

Detailed Description

Class that defines gradient vector for jl avoidance.

Constructor & Destructor Documentation

◆ FeatureJointLimits()

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

◆ ~FeatureJointLimits()

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

inlinevirtual

Member Function Documentation

◆ computeError()

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

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.

Implements dynamicgraph::sot::FeatureAbstract.

◆ computeJacobian()

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

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.

Implements dynamicgraph::sot::FeatureAbstract.

◆ computeWidthJl()

dg::Vector& dynamicgraph::sot::FeatureJointLimits::computeWidthJl	(	dg::Vector &	res,
		const int &	time
	)

◆ DECLARE_REFERENCE_FUNCTIONS()

dynamicgraph::sot::FeatureJointLimits::DECLARE_REFERENCE_FUNCTIONS ( FeatureJointLimits )

◆ display()

virtual void dynamicgraph::sot::FeatureJointLimits::display ( std::ostream & os ) const

virtual

◆ getClassName()

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

inlinevirtual

Returns the name class.

Reimplemented from dynamicgraph::sot::FeatureAbstract.

◆ getDimension()

virtual unsigned int& dynamicgraph::sot::FeatureJointLimits::getDimension	(	unsigned int &	res,
		int	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.

◆ selectActuated()

static Flags dynamicgraph::sot::FeatureJointLimits::selectActuated ( void )

inlinestatic

Static Feature selection.

Member Data Documentation

◆ CLASS_NAME

const std::string dynamicgraph::sot::FeatureJointLimits::CLASS_NAME

static

◆ jointSIN

dg::SignalPtr<dg::Vector, int> dynamicgraph::sot::FeatureJointLimits::jointSIN

◆ lowerJlSIN

dg::SignalPtr<dg::Vector, int> dynamicgraph::sot::FeatureJointLimits::lowerJlSIN

◆ threshold

double dynamicgraph::sot::FeatureJointLimits::threshold

protected

◆ THRESHOLD_DEFAULT

const double dynamicgraph::sot::FeatureJointLimits::THRESHOLD_DEFAULT

staticprotected

◆ upperJlSIN

dg::SignalPtr<dg::Vector, int> dynamicgraph::sot::FeatureJointLimits::upperJlSIN

◆ widthJlSINTERN

dg::SignalTimeDependent<dg::Vector, int> dynamicgraph::sot::FeatureJointLimits::widthJlSINTERN

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Protected Attributes

Static Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ FeatureJointLimits()

◆ ~FeatureJointLimits()

Member Function Documentation

◆ computeError()

◆ computeJacobian()

◆ computeWidthJl()

◆ DECLARE_REFERENCE_FUNCTIONS()

◆ display()

◆ getClassName()

◆ getDimension()

◆ selectActuated()

Member Data Documentation

◆ CLASS_NAME

◆ jointSIN

◆ lowerJlSIN

◆ threshold

◆ THRESHOLD_DEFAULT

◆ upperJlSIN

◆ widthJlSINTERN