Directory: | ./ |
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File: | include/sot/core/feature-generic.hh |
Date: | 2024-08-13 12:13:25 |
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1 | /* | ||
2 | * Copyright 2010, | ||
3 | * François Bleibel, | ||
4 | * Olivier Stasse, | ||
5 | * | ||
6 | * CNRS/AIST | ||
7 | * | ||
8 | */ | ||
9 | |||
10 | #ifndef __SOT_FEATURE_GENERIC_HH__ | ||
11 | #define __SOT_FEATURE_GENERIC_HH__ | ||
12 | |||
13 | /* --------------------------------------------------------------------- */ | ||
14 | /* --- INCLUDE --------------------------------------------------------- */ | ||
15 | /* --------------------------------------------------------------------- */ | ||
16 | |||
17 | /* SOT */ | ||
18 | #include <sot/core/exception-task.hh> | ||
19 | #include <sot/core/feature-abstract.hh> | ||
20 | |||
21 | /* --------------------------------------------------------------------- */ | ||
22 | /* --- API ------------------------------------------------------------- */ | ||
23 | /* --------------------------------------------------------------------- */ | ||
24 | |||
25 | #if defined(WIN32) | ||
26 | #if defined(feature_generic_EXPORTS) | ||
27 | #define SOTFEATUREGENERIC_EXPORT __declspec(dllexport) | ||
28 | #else | ||
29 | #define SOTFEATUREGENERIC_EXPORT __declspec(dllimport) | ||
30 | #endif | ||
31 | #else | ||
32 | #define SOTFEATUREGENERIC_EXPORT | ||
33 | #endif | ||
34 | |||
35 | /* --------------------------------------------------------------------- */ | ||
36 | /* --- CLASS ----------------------------------------------------------- */ | ||
37 | /* --------------------------------------------------------------------- */ | ||
38 | |||
39 | namespace dynamicgraph { | ||
40 | namespace sot { | ||
41 | |||
42 | /*! | ||
43 | \class FeatureGeneric | ||
44 | \brief Class that defines a generic implementation of the abstract interface | ||
45 | for features. | ||
46 | |||
47 | This class is very useful if the feature can be easily computed using | ||
48 | the basic operator provided. For instance a free space controller on a | ||
49 | end-effector is basically directly computed from the Jacobian provided | ||
50 | by dyn and some appropriate addition and soustraction. | ||
51 | Instead of building a specific feature for this, it is possible to use the | ||
52 | signals and plug the computed error, Jacobian and activation to the input | ||
53 | of this generic feature implementation. | ||
54 | |||
55 | */ | ||
56 | class SOTFEATUREGENERIC_EXPORT FeatureGeneric | ||
57 | : public FeatureAbstract, | ||
58 | FeatureReferenceHelper<FeatureGeneric> { | ||
59 | public: | ||
60 | /*! Field storing the class name. */ | ||
61 | static const std::string CLASS_NAME; | ||
62 | /*! Returns the name of the class. */ | ||
63 | ✗ | virtual const std::string &getClassName(void) const { return CLASS_NAME; } | |
64 | |||
65 | protected: | ||
66 | dynamicgraph::Vector::Index dimensionDefault; | ||
67 | |||
68 | /* --- SIGNALS ------------------------------------------------------------ */ | ||
69 | public: | ||
70 | /*! \name dynamicgraph::Signals | ||
71 | @{ | ||
72 | */ | ||
73 | /*! \name Input signals | ||
74 | @{ | ||
75 | */ | ||
76 | /*! \brief Input for the error. */ | ||
77 | dynamicgraph::SignalPtr<dynamicgraph::Vector, int> errorSIN; | ||
78 | |||
79 | /*! \brief Input for the Jacobian. */ | ||
80 | dynamicgraph::SignalPtr<dynamicgraph::Matrix, int> jacobianSIN; | ||
81 | |||
82 | /*! @} */ | ||
83 | |||
84 | /*! \name Output signals | ||
85 | @{ | ||
86 | */ | ||
87 | /*! \brief Publish the jacobian of the feature according to the robot state. | ||
88 | */ | ||
89 | using FeatureAbstract::jacobianSOUT; | ||
90 | |||
91 | /*! \brief Publish the error between the desired and the current value of the | ||
92 | feature. */ | ||
93 | using FeatureAbstract::errorSOUT; | ||
94 | |||
95 | public: | ||
96 | /*! \brief Default constructor */ | ||
97 | FeatureGeneric(const std::string &name); | ||
98 | |||
99 | /*! \brief Default destructor */ | ||
100 | 4 | virtual ~FeatureGeneric(void) {} | |
101 | |||
102 | /*! \brief Get the dimension of the feature. */ | ||
103 | virtual unsigned int &getDimension(unsigned int &dim, int time); | ||
104 | |||
105 | /*! \name Methods to trigger computation related to this feature. | ||
106 | @{ | ||
107 | */ | ||
108 | |||
109 | /*! \brief Compute the error between the desired value and the value itself. | ||
110 | */ | ||
111 | virtual dynamicgraph::Vector &computeError(dynamicgraph::Vector &res, | ||
112 | int time); | ||
113 | |||
114 | /*! \brief Compute the Jacobian of the value according to the robot state.. */ | ||
115 | virtual dynamicgraph::Matrix &computeJacobian(dynamicgraph::Matrix &res, | ||
116 | int time); | ||
117 | |||
118 | /*! @} */ | ||
119 | |||
120 | /*! \brief Display the information related to this generic implementation. */ | ||
121 | virtual void display(std::ostream &os) const; | ||
122 | |||
123 | /*! \name Dealing with the reference value to be reach with this feature. | ||
124 | @{ | ||
125 | */ | ||
126 |
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81 | DECLARE_REFERENCE_FUNCTIONS(FeatureGeneric); |
127 | /*! @} */ | ||
128 | }; | ||
129 | |||
130 | } /* namespace sot */ | ||
131 | } /* namespace dynamicgraph */ | ||
132 | |||
133 | #endif // #ifndef __SOT_FEATURE_GENERIC_HH__ | ||
134 | |||
135 | /* | ||
136 | * Local variables: | ||
137 | * c-basic-offset: 2 | ||
138 | * End: | ||
139 | */ | ||
140 |