dynamicgraph::sot::FeatureVector3 Class Reference
Class that defines point-3d control feature. More...
#include <sot/core/feature-vector3.hh>
Inheritance diagram for dynamicgraph::sot::FeatureVector3:
Public Member Functions | |
| virtual const std::string & | getClassName (void) const |
| Returns the name class. More... | |
| FeatureVector3 (const std::string &name) | |
| virtual | ~FeatureVector3 (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... | |
| virtual void | display (std::ostream &os) const |
 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 | |
| DECLARE_NO_REFERENCE | |
| dg::SignalPtr< dg::Vector, int > | vectorSIN |
| dg::SignalPtr< MatrixHomogeneous, int > | positionSIN |
| dg::SignalPtr< dg::Matrix, int > | articularJacobianSIN |
| dg::SignalPtr< dg::Vector, int > | positionRefSIN |
| 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
Class that defines point-3d control feature.
Constructor & Destructor Documentation
◆ FeatureVector3()
| dynamicgraph::sot::FeatureVector3::FeatureVector3 | ( | const std::string & | name | ) |
◆ ~FeatureVector3()
|
inlinevirtual |
Member Function Documentation
◆ computeError()
|
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 |
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.
◆ display()
|
virtual |
◆ getClassName()
|
inlinevirtual |
Returns the name class.
Reimplemented from dynamicgraph::sot::FeatureAbstract.
◆ getDimension()
|
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.
Member Data Documentation
◆ articularJacobianSIN
| dg::SignalPtr<dg::Matrix, int> dynamicgraph::sot::FeatureVector3::articularJacobianSIN |
◆ CLASS_NAME
|
static |
◆ DECLARE_NO_REFERENCE
| dynamicgraph::sot::FeatureVector3::DECLARE_NO_REFERENCE |
◆ positionRefSIN
| dg::SignalPtr<dg::Vector, int> dynamicgraph::sot::FeatureVector3::positionRefSIN |
◆ positionSIN
| dg::SignalPtr<MatrixHomogeneous, int> dynamicgraph::sot::FeatureVector3::positionSIN |
◆ vectorSIN
| dg::SignalPtr<dg::Vector, int> dynamicgraph::sot::FeatureVector3::vectorSIN |
