#include <feature-posture.hh>

Inheritance diagram for dynamicgraph::sot::FeaturePosture:

Public Types
typedef dynamicgraph::SignalPtr< dg::Vector, int >	signalIn_t

typedef dynamicgraph::SignalTimeDependent< dg::Vector, int >	signalOut_t

Public Member Functions
	FeaturePosture (const std::string &name)

virtual	~FeaturePosture ()

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

void	selectDof (unsigned dofId, bool control)

Public Member Functions inherited from dynamicgraph::sot::FeatureAbstract
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...

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 Attributes
	DECLARE_NO_REFERENCE

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...

Protected Member Functions
virtual dg::Vector &	computeError (dg::Vector &res, int)
	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)
	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...

Protected Attributes
signalIn_t	state_

signalIn_t	posture_

signalIn_t	postureDot_

signalOut_t	error_

Friends
class	SelectDof

Additional Inherited Members
Static Public Attributes inherited from dynamicgraph::sot::FeatureAbstract
static const std::string	CLASS_NAME
	Store the name of the class. More...

Detailed Description

Feature that observes the posture of the robot, ie whose Jacobian is the identity, or slices of the identity. This feature can be exactly obtained with a generic posture, given the identity matrix as the input Jacobian, the identity matrix. It is even prefereable, as the reference value is then given by a signal, which can be reevalutated at each iteration, for example to track a reference trajectory in the configuration space. See for example the toFlag python function in the sot-dyninv module to nicely selec the posture DOF.

Member Typedef Documentation

◆ signalIn_t

typedef dynamicgraph::SignalPtr<dg::Vector, int> dynamicgraph::sot::FeaturePosture::signalIn_t

◆ signalOut_t

typedef dynamicgraph::SignalTimeDependent<dg::Vector, int> dynamicgraph::sot::FeaturePosture::signalOut_t

Constructor & Destructor Documentation

◆ FeaturePosture()

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

explicit

◆ ~FeaturePosture()

virtual dynamicgraph::sot::FeaturePosture::~FeaturePosture ( )

virtual

Member Function Documentation

◆ computeError()

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

protectedvirtual

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.

◆ computeErrorDot()

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

protectedvirtual

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::FeaturePosture::computeJacobian	(	dg::Matrix &	res,
		int	time
	)

protectedvirtual

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.

◆ getDimension()

virtual unsigned int& dynamicgraph::sot::FeaturePosture::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.

◆ selectDof()

void dynamicgraph::sot::FeaturePosture::selectDof	(	unsigned	dofId,
		bool	control
	)

Friends And Related Function Documentation

◆ SelectDof

friend class SelectDof

friend

Member Data Documentation

◆ DECLARE_NO_REFERENCE

dynamicgraph::sot::FeaturePosture::DECLARE_NO_REFERENCE

◆ error_

signalOut_t dynamicgraph::sot::FeaturePosture::error_

protected

◆ posture_

signalIn_t dynamicgraph::sot::FeaturePosture::posture_

protected

◆ postureDot_

signalIn_t dynamicgraph::sot::FeaturePosture::postureDot_

protected

◆ state_

signalIn_t dynamicgraph::sot::FeaturePosture::state_

protected

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Friends

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ signalIn_t

◆ signalOut_t

Constructor & Destructor Documentation

◆ FeaturePosture()

◆ ~FeaturePosture()

Member Function Documentation

◆ computeError()

◆ computeErrorDot()

◆ computeJacobian()

◆ getDimension()

◆ selectDof()

Friends And Related Function Documentation

◆ SelectDof

Member Data Documentation

◆ DECLARE_NO_REFERENCE

◆ error_

◆ posture_

◆ postureDot_

◆ state_