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/* |
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* Copyright 2010, |
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* François Bleibel, |
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* Olivier Stasse, |
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* |
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* CNRS/AIST |
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* |
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*/ |
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#ifndef __SOT_FEATURE_JOINTLIMITS_HH__ |
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#define __SOT_FEATURE_JOINTLIMITS_HH__ |
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/* --------------------------------------------------------------------- */ |
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/* --- INCLUDE --------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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/* SOT */ |
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#include <sot/core/exception-task.hh> |
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#include <sot/core/feature-abstract.hh> |
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/* --------------------------------------------------------------------- */ |
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/* --- API ------------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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#if defined(WIN32) |
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#if defined(feature_joint_limits_EXPORTS) |
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#define SOTFEATUREJOINTLIMITS_EXPORT __declspec(dllexport) |
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#else |
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#define SOTFEATUREJOINTLIMITS_EXPORT __declspec(dllimport) |
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#endif |
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#else |
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#define SOTFEATUREJOINTLIMITS_EXPORT |
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#endif |
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/* --------------------------------------------------------------------- */ |
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/* --- CLASS ----------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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namespace dynamicgraph { |
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namespace sot { |
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/*! |
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\class FeatureJointLimits |
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\brief Class that defines gradient vector for jl avoidance. |
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*/ |
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class SOTFEATUREJOINTLIMITS_EXPORT FeatureJointLimits |
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: public FeatureAbstract, |
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FeatureReferenceHelper<FeatureJointLimits> { |
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public: |
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static const std::string CLASS_NAME; |
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virtual const std::string &getClassName(void) const { return CLASS_NAME; } |
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protected: |
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double threshold; |
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const static double THRESHOLD_DEFAULT; // = .9; |
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/* unsigned int freeFloatingIndex,freeFloatingSize; */ |
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/* static const unsigned int FREE_FLOATING_INDEX = 0; */ |
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/* static const unsigned int FREE_FLOATING_SIZE = 5; */ |
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/* --- SIGNALS ------------------------------------------------------------ */ |
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public: |
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dynamicgraph::SignalPtr<dynamicgraph::Vector, int> jointSIN; |
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dynamicgraph::SignalPtr<dynamicgraph::Vector, int> upperJlSIN; |
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dynamicgraph::SignalPtr<dynamicgraph::Vector, int> lowerJlSIN; |
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dynamicgraph::SignalTimeDependent<dynamicgraph::Vector, int> widthJlSINTERN; |
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using FeatureAbstract::selectionSIN; |
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using FeatureAbstract::errorSOUT; |
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using FeatureAbstract::jacobianSOUT; |
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/*! \name Dealing with the reference value to be reach with this feature. |
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@{ |
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*/ |
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DECLARE_REFERENCE_FUNCTIONS(FeatureJointLimits); |
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/*! @} */ |
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public: |
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FeatureJointLimits(const std::string &name); |
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virtual ~FeatureJointLimits(void) {} |
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virtual unsigned int &getDimension(unsigned int &dim, int time); |
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virtual dynamicgraph::Vector &computeError(dynamicgraph::Vector &res, |
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int time); |
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virtual dynamicgraph::Matrix &computeJacobian(dynamicgraph::Matrix &res, |
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int time); |
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dynamicgraph::Vector &computeWidthJl(dynamicgraph::Vector &res, |
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const int &time); |
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/** Static Feature selection. */ |
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inline static Flags selectActuated(void); |
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virtual void display(std::ostream &os) const; |
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}; |
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} /* namespace sot */ |
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} /* namespace dynamicgraph */ |
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#endif // #ifndef __SOT_FEATURE_JOINTLIMITS_HH__ |
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/* |
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* Local variables: |
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* c-basic-offset: 2 |
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* End: |
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*/ |
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