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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_LINEDISTANCE_HH__ |
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#define __SOT_FEATURE_LINEDISTANCE_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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#include <sot/core/matrix-geometry.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_line_distance_EXPORTS) |
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#define SOTFEATURELINEDISTANCE_EXPORT __declspec(dllexport) |
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#else |
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#define SOTFEATURELINEDISTANCE_EXPORT __declspec(dllimport) |
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#endif |
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#else |
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#define SOTFEATURELINEDISTANCE_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 FeatureLineDistance |
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\brief Class that defines point-3d control feature |
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*/ |
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class SOTFEATURELINEDISTANCE_EXPORT FeatureLineDistance |
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: public FeatureAbstract { |
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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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/* --- SIGNALS ------------------------------------------------------------ */ |
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public: |
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dynamicgraph::SignalPtr<MatrixHomogeneous, int> positionSIN; |
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dynamicgraph::SignalPtr<dynamicgraph::Matrix, int> articularJacobianSIN; |
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dynamicgraph::SignalPtr<dynamicgraph::Vector, int> positionRefSIN; |
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dynamicgraph::SignalPtr<dynamicgraph::Vector, int> vectorSIN; |
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dynamicgraph::SignalTimeDependent<dynamicgraph::Vector, int> lineSOUT; |
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using FeatureAbstract::errorSOUT; |
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using FeatureAbstract::jacobianSOUT; |
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using FeatureAbstract::selectionSIN; |
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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_NO_REFERENCE; |
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/*! @} */ |
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public: |
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FeatureLineDistance(const std::string &name); |
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virtual ~FeatureLineDistance(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 &computeLineCoordinates(dynamicgraph::Vector &cood, |
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int time); |
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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_LINEDISTANCE_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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