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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_POINT6DRELATIVE_HH__ |
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#define __SOT_FEATURE_POINT6DRELATIVE_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/feature-point6d.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_point6d_relative_EXPORTS) |
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#define SOTFEATUREPOINT6DRELATIVE_EXPORT __declspec(dllexport) |
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#else |
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#define SOTFEATUREPOINT6DRELATIVE_EXPORT __declspec(dllimport) |
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#endif |
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#else |
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#define SOTFEATUREPOINT6DRELATIVE_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 FeaturePoint6dRelative |
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\brief Class that defines the motion of a point of the body wrt. another |
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point. |
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\deprecated This class was replaced by FeaturePose. |
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*/ |
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class [[deprecated("replaced by FeaturePose")]] SOTFEATUREPOINT6DRELATIVE_EXPORT |
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FeaturePoint6dRelative : public FeaturePoint6d { |
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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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dynamicgraph::Matrix L; |
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/* --- SIGNALS ------------------------------------------------------------ */ |
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public: |
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dynamicgraph::SignalPtr<MatrixHomogeneous, int> positionReferenceSIN; |
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dynamicgraph::SignalPtr<dynamicgraph::Matrix, int> |
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articularJacobianReferenceSIN; |
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/*! dynamicgraph::Signals related to the computation of the derivative of |
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the error |
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@{ */ |
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/*! dynamicgraph::Signals giving the derivative of the input signals. |
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@{*/ |
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/*! Derivative of the relative position. */ |
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dynamicgraph::SignalPtr<MatrixHomogeneous, int> dotpositionSIN; |
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/*! Derivative of the reference position. */ |
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dynamicgraph::SignalPtr<MatrixHomogeneous, int> dotpositionReferenceSIN; |
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/*! @} */ |
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using FeaturePoint6d::getReference; |
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public: |
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FeaturePoint6dRelative(const std::string &name); |
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virtual ~FeaturePoint6dRelative(void) {} |
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virtual dynamicgraph::Vector &computeError(dynamicgraph::Vector & res, |
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int time); |
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virtual dynamicgraph::Vector &computeErrorDot(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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virtual void display(std::ostream & os) const; |
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void initCommands(void); |
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void initSdes(const std::string &featureDesiredName); |
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}; |
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} /* namespace sot */ |
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} /* namespace dynamicgraph */ |
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#endif // #ifndef __SOT_FEATURE_POINT6DRELATIVE_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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