feature-point6d-relative.hh

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/*
 * Copyright 2010,
 * François Bleibel,
 * Olivier Stasse,
 *
 * CNRS/AIST
 *
 */
 
#ifndef __SOT_FEATURE_POINT6DRELATIVE_HH__
#define __SOT_FEATURE_POINT6DRELATIVE_HH__
 
/* --------------------------------------------------------------------- */
/* --- INCLUDE --------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
/* SOT */
#include <sot/core/exception-task.hh>
#include <sot/core/feature-abstract.hh>
#include <sot/core/feature-point6d.hh>
#include <sot/core/matrix-geometry.hh>
 
/* --------------------------------------------------------------------- */
/* --- API ------------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
#if defined(WIN32)
#if defined(feature_point6d_relative_EXPORTS)
#define SOTFEATUREPOINT6DRELATIVE_EXPORT __declspec(dllexport)
#else
#define SOTFEATUREPOINT6DRELATIVE_EXPORT __declspec(dllimport)
#endif
#else
#define SOTFEATUREPOINT6DRELATIVE_EXPORT
#endif
 
/* --------------------------------------------------------------------- */
/* --- CLASS ----------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
namespace dynamicgraph {
namespace sot {
 
class [[deprecated("replaced by FeaturePose")]] SOTFEATUREPOINT6DRELATIVE_EXPORT
    FeaturePoint6dRelative : public FeaturePoint6d {
 public:
  static const std::string CLASS_NAME;
  virtual const std::string &getClassName(void) const { return CLASS_NAME; }
 
 protected:
  dynamicgraph::Matrix L;
 
  /* --- SIGNALS ------------------------------------------------------------ */
 public:
  dynamicgraph::SignalPtr<MatrixHomogeneous, int> positionReferenceSIN;
  dynamicgraph::SignalPtr<dynamicgraph::Matrix, int>
      articularJacobianReferenceSIN;
 
  dynamicgraph::SignalPtr<MatrixHomogeneous, int> dotpositionSIN;
  dynamicgraph::SignalPtr<MatrixHomogeneous, int> dotpositionReferenceSIN;
  using FeaturePoint6d::getReference;
 
 public:
  FeaturePoint6dRelative(const std::string &name);
  virtual ~FeaturePoint6dRelative(void) {}
 
  virtual dynamicgraph::Vector &computeError(dynamicgraph::Vector &res,
                                             int time);
  virtual dynamicgraph::Vector &computeErrorDot(dynamicgraph::Vector &res,
                                                int time);
  virtual dynamicgraph::Matrix &computeJacobian(dynamicgraph::Matrix &res,
                                                int time);
 
  virtual void display(std::ostream &os) const;
 
  void initCommands(void);
  void initSdes(const std::string &featureDesiredName);
};
 
} /* namespace sot */
} /* namespace dynamicgraph */
 
#endif  // #ifndef __SOT_FEATURE_POINT6DRELATIVE_HH__
 
/*
 * Local variables:
 * c-basic-offset: 2
 * End:
 */