| Directory: | ./ |
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| File: | include/sot/core/feature-generic.hh |
| Date: | 2024-08-13 12:13:25 |
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| Lines: | 2 | 3 | 66.7% |
| Branches: | 2 | 6 | 33.3% |
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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 |