| Line |
Branch |
Exec |
Source |
| 1 |
|
|
/* |
| 2 |
|
|
* Copyright 2010, |
| 3 |
|
|
* François Bleibel, |
| 4 |
|
|
* Olivier Stasse, |
| 5 |
|
|
* |
| 6 |
|
|
* CNRS/AIST |
| 7 |
|
|
* |
| 8 |
|
|
*/ |
| 9 |
|
|
|
| 10 |
|
|
#ifndef __SOT_FEATURE_VECTOR3_HH__ |
| 11 |
|
|
#define __SOT_FEATURE_VECTOR3_HH__ |
| 12 |
|
|
|
| 13 |
|
|
/* --------------------------------------------------------------------- */ |
| 14 |
|
|
/* --- INCLUDE --------------------------------------------------------- */ |
| 15 |
|
|
/* --------------------------------------------------------------------- */ |
| 16 |
|
|
|
| 17 |
|
|
/* SOT */ |
| 18 |
|
|
#include <sot/core/exception-task.hh> |
| 19 |
|
|
#include <sot/core/feature-abstract.hh> |
| 20 |
|
|
#include <sot/core/matrix-geometry.hh> |
| 21 |
|
|
|
| 22 |
|
|
/* --------------------------------------------------------------------- */ |
| 23 |
|
|
/* --- API ------------------------------------------------------------- */ |
| 24 |
|
|
/* --------------------------------------------------------------------- */ |
| 25 |
|
|
|
| 26 |
|
|
#if defined(WIN32) |
| 27 |
|
|
#if defined(feature_vector3_EXPORTS) |
| 28 |
|
|
#define SOTFEATUREVECTOR3_EXPORT __declspec(dllexport) |
| 29 |
|
|
#else |
| 30 |
|
|
#define SOTFEATUREVECTOR3_EXPORT __declspec(dllimport) |
| 31 |
|
|
#endif |
| 32 |
|
|
#else |
| 33 |
|
|
#define SOTFEATUREVECTOR3_EXPORT |
| 34 |
|
|
#endif |
| 35 |
|
|
|
| 36 |
|
|
/* --------------------------------------------------------------------- */ |
| 37 |
|
|
/* --- CLASS ----------------------------------------------------------- */ |
| 38 |
|
|
/* --------------------------------------------------------------------- */ |
| 39 |
|
|
|
| 40 |
|
|
namespace dynamicgraph { |
| 41 |
|
|
namespace sot { |
| 42 |
|
|
|
| 43 |
|
|
/*! |
| 44 |
|
|
\class FeatureVector3 |
| 45 |
|
|
\brief Class that defines point-3d control feature |
| 46 |
|
|
*/ |
| 47 |
|
|
class SOTFEATUREVECTOR3_EXPORT FeatureVector3 : public FeatureAbstract { |
| 48 |
|
|
public: |
| 49 |
|
|
static const std::string CLASS_NAME; |
| 50 |
|
✗ |
virtual const std::string &getClassName(void) const { return CLASS_NAME; } |
| 51 |
|
|
|
| 52 |
|
✗ |
DECLARE_NO_REFERENCE; |
| 53 |
|
|
|
| 54 |
|
|
protected: |
| 55 |
|
|
/* --- SIGNALS ------------------------------------------------------------ */ |
| 56 |
|
|
public: |
| 57 |
|
|
dynamicgraph::SignalPtr<dynamicgraph::Vector, int> vectorSIN; |
| 58 |
|
|
dynamicgraph::SignalPtr<MatrixHomogeneous, int> positionSIN; |
| 59 |
|
|
dynamicgraph::SignalPtr<dynamicgraph::Matrix, int> articularJacobianSIN; |
| 60 |
|
|
dynamicgraph::SignalPtr<dynamicgraph::Vector, int> positionRefSIN; |
| 61 |
|
|
|
| 62 |
|
|
using FeatureAbstract::errorSOUT; |
| 63 |
|
|
using FeatureAbstract::jacobianSOUT; |
| 64 |
|
|
using FeatureAbstract::selectionSIN; |
| 65 |
|
|
|
| 66 |
|
|
public: |
| 67 |
|
|
FeatureVector3(const std::string &name); |
| 68 |
|
✗ |
virtual ~FeatureVector3(void) {} |
| 69 |
|
|
|
| 70 |
|
|
virtual unsigned int &getDimension(unsigned int &dim, int time); |
| 71 |
|
|
|
| 72 |
|
|
virtual dynamicgraph::Vector &computeError(dynamicgraph::Vector &res, |
| 73 |
|
|
int time); |
| 74 |
|
|
virtual dynamicgraph::Matrix &computeJacobian(dynamicgraph::Matrix &res, |
| 75 |
|
|
int time); |
| 76 |
|
|
|
| 77 |
|
|
virtual void display(std::ostream &os) const; |
| 78 |
|
|
}; |
| 79 |
|
|
|
| 80 |
|
|
} /* namespace sot */ |
| 81 |
|
|
} /* namespace dynamicgraph */ |
| 82 |
|
|
|
| 83 |
|
|
#endif // #ifndef __SOT_FEATURE_VECTOR3_HH__ |
| 84 |
|
|
|
| 85 |
|
|
/* |
| 86 |
|
|
* Local variables: |
| 87 |
|
|
* c-basic-offset: 2 |
| 88 |
|
|
* End: |
| 89 |
|
|
*/ |
| 90 |
|
|
|