Class that defines the motion of a point of the body wrt. another point. More...

#include <sot/core/feature-point6d-relative.hh>

Inheritance diagram for dynamicgraph::sot::FeaturePoint6dRelative:

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

	FeaturePoint6dRelative (const std::string &name)

virtual	~FeaturePoint6dRelative (void)

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

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

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

void	initCommands (void)

void	initSdes (const std::string &featureDesiredName)

Public Member Functions inherited from dynamicgraph::sot::FeaturePoint6d
void	computationFrame (const std::string &inFrame)
	Set computation frame. More...

std::string	computationFrame () const
	Get computation frame. More...

	FeaturePoint6d (const std::string &name)

virtual	~FeaturePoint6d (void)

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

virtual dg::Vector &	computeErrordot (dg::Vector &res, int time)

void	servoCurrentPosition (void)

	DECLARE_REFERENCE_FUNCTIONS (FeaturePoint6d)

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 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 Member Functions inherited from dynamicgraph::sot::FeatureReferenceHelper< FeaturePoint6d >
	FeatureReferenceHelper (void)

void	setReference (FeatureAbstract *sdes)

void	unsetReference (void)

bool	isReferenceSet (void) const

FeaturePoint6d *	getReference (void)

const FeaturePoint6d *	getReference (void) const

Public Attributes
dg::SignalPtr< MatrixHomogeneous, int >	positionReferenceSIN

dg::SignalPtr< dg::Matrix, int >	articularJacobianReferenceSIN


dg::SignalPtr< MatrixHomogeneous, int >	dotpositionSIN

dg::SignalPtr< MatrixHomogeneous, int >	dotpositionReferenceSIN

Public Attributes inherited from dynamicgraph::sot::FeaturePoint6d
dg::SignalPtr< MatrixHomogeneous, int >	positionSIN

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

dg::SignalPtr< dg::Matrix, int >	articularJacobianSIN

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::FeaturePoint6d
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
dg::Matrix	L

Additional Inherited Members
Static Public Member Functions inherited from dynamicgraph::sot::FeaturePoint6d
static Flags	selectX (void)
	Static Feature selection. More...

static Flags	selectY (void)

static Flags	selectZ (void)

static Flags	selectRX (void)

static Flags	selectRY (void)

static Flags	selectRZ (void)

static Flags	selectTranslation (void)

static Flags	selectRotation (void)

Protected Types inherited from dynamicgraph::sot::FeaturePoint6d
enum	ComputationFrameType { FRAME_DESIRED, FRAME_CURRENT }

Static Protected Attributes inherited from dynamicgraph::sot::FeaturePoint6d
static const ComputationFrameType	COMPUTATION_FRAME_DEFAULT

Detailed Description

Class that defines the motion of a point of the body wrt. another point.

Deprecated:: This class was replaced by FeaturePose.

Constructor & Destructor Documentation

◆ FeaturePoint6dRelative()

dynamicgraph::sot::FeaturePoint6dRelative::FeaturePoint6dRelative ( const std::string & name )

◆ ~FeaturePoint6dRelative()

virtual dynamicgraph::sot::FeaturePoint6dRelative::~FeaturePoint6dRelative ( void )

inlinevirtual

Member Function Documentation

◆ computeError()

virtual dg::Vector& dynamicgraph::sot::FeaturePoint6dRelative::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.

Reimplemented from dynamicgraph::sot::FeaturePoint6d.

◆ computeErrorDot()

virtual dg::Vector& dynamicgraph::sot::FeaturePoint6dRelative::computeErrorDot	(	dg::Vector &	res,
		int	time
	)

virtual

Callback for signal errordotSOUT.

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

Reimplemented from dynamicgraph::sot::FeatureAbstract.

◆ computeJacobian()

virtual dg::Matrix& dynamicgraph::sot::FeaturePoint6dRelative::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.

Reimplemented from dynamicgraph::sot::FeaturePoint6d.

◆ display()

virtual void dynamicgraph::sot::FeaturePoint6dRelative::display ( std::ostream & os ) const

virtual

Reimplemented from dynamicgraph::sot::FeaturePoint6d.

◆ getClassName()

virtual const std::string& dynamicgraph::sot::FeaturePoint6dRelative::getClassName ( void ) const

inlinevirtual

Returns the name class.

Reimplemented from dynamicgraph::sot::FeaturePoint6d.

◆ initCommands()

void dynamicgraph::sot::FeaturePoint6dRelative::initCommands ( void )

◆ initSdes()

void dynamicgraph::sot::FeaturePoint6dRelative::initSdes ( const std::string & featureDesiredName )

Member Data Documentation

◆ articularJacobianReferenceSIN

dg::SignalPtr<dg::Matrix, int> dynamicgraph::sot::FeaturePoint6dRelative::articularJacobianReferenceSIN

◆ CLASS_NAME

const std::string dynamicgraph::sot::FeaturePoint6dRelative::CLASS_NAME

static

◆ dotpositionReferenceSIN

dg::SignalPtr<MatrixHomogeneous, int> dynamicgraph::sot::FeaturePoint6dRelative::dotpositionReferenceSIN

Derivative of the reference position.

◆ dotpositionSIN

dg::SignalPtr<MatrixHomogeneous, int> dynamicgraph::sot::FeaturePoint6dRelative::dotpositionSIN

dg::Signals related to the computation of the derivative of the error

dg::Signals giving the derivative of the input signals.

Derivative of the relative position.

◆ L

dg::Matrix dynamicgraph::sot::FeaturePoint6dRelative::L

protected

◆ positionReferenceSIN

dg::SignalPtr<MatrixHomogeneous, int> dynamicgraph::sot::FeaturePoint6dRelative::positionReferenceSIN

Public Member Functions

Public Attributes

Static Public Attributes

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ FeaturePoint6dRelative()

◆ ~FeaturePoint6dRelative()

Member Function Documentation

◆ computeError()

◆ computeErrorDot()

◆ computeJacobian()

◆ display()

◆ getClassName()

◆ initCommands()

◆ initSdes()

Member Data Documentation

◆ articularJacobianReferenceSIN

◆ CLASS_NAME

◆ dotpositionReferenceSIN

◆ dotpositionSIN

◆ L

◆ positionReferenceSIN