GCC Code Coverage Report

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_VISUALPOINT_HH__
11			#define __SOT_FEATURE_VISUALPOINT_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_visual_point_EXPORTS)
27			#define SOTFEATUREVISUALPOINT_EXPORT __declspec(dllexport)
28			#else
29			#define SOTFEATUREVISUALPOINT_EXPORT __declspec(dllimport)
30			#endif
31			#else
32			#define SOTFEATUREVISUALPOINT_EXPORT
33			#endif
34
35			/* --------------------------------------------------------------------- */
36			/* --- CLASS ----------------------------------------------------------- */
37			/* --------------------------------------------------------------------- */
38
39			namespace dynamicgraph {
40			namespace sot {
41
42			/*!
43			\class FeatureVisualPoint
44			\brief Class that defines 2D visualPoint visual feature
45			*/
46			class SOTFEATUREVISUALPOINT_EXPORT FeatureVisualPoint
47			: public FeatureAbstract,
48			public FeatureReferenceHelper<FeatureVisualPoint> {
49			public:
50			static const std::string CLASS_NAME;
51		✗	virtual const std::string &getClassName(void) const { return CLASS_NAME; }
52
53			protected:
54			dynamicgraph::Matrix L;
55
56			/* --- SIGNALS ------------------------------------------------------------ */
57			public:
58			dynamicgraph::SignalPtr<dynamicgraph::Vector, int> xySIN;
59			/** FeatureVisualPoint depth (required to compute the interaction matrix)
60			* default Z = 1m. */
61			dynamicgraph::SignalPtr<double, int> ZSIN;
62			dynamicgraph::SignalPtr<dynamicgraph::Matrix, int> articularJacobianSIN;
63
64			using FeatureAbstract::errorSOUT;
65			using FeatureAbstract::jacobianSOUT;
66			using FeatureAbstract::selectionSIN;
67
68	2/6 ✗ Branch 0 not taken. ✓ Branch 1 taken 2 times. ✗ Branch 3 not taken. ✗ Branch 4 not taken. ✓ Branch 9 taken 2 times. ✗ Branch 10 not taken.	8	DECLARE_REFERENCE_FUNCTIONS(FeatureVisualPoint);
69
70			public:
71			FeatureVisualPoint(const std::string &name);
72		✗	virtual ~FeatureVisualPoint(void) {}
73
74			virtual unsigned int &getDimension(unsigned int &dim, int time);
75
76			virtual dynamicgraph::Vector &computeError(dynamicgraph::Vector &res,
77			int time);
78			virtual dynamicgraph::Matrix &computeJacobian(dynamicgraph::Matrix &res,
79			int time);
80
81			/** Static Feature selection. */
82			inline static Flags selectX(void) { return Flags("10"); }
83			inline static Flags selectY(void) { return Flags("01"); }
84
85			virtual void display(std::ostream &os) const;
86			};
87
88			} /* namespace sot */
89			} /* namespace dynamicgraph */
90
91			#endif // #ifndef __SOT_FEATURE_VISUALPOINT_HH__
92
93			/*
94			* Local variables:
95			* c-basic-offset: 2
96			* End:
97			*/
98