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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_1D_HH__ |
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#define __SOT_FEATURE_1D_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_1d_EXPORTS) |
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#define SOTFEATURE1D_EXPORT __declspec(dllexport) |
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#else |
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#define SOTFEATURE1D_EXPORT __declspec(dllimport) |
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#endif |
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#else |
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#define SOTFEATURE1D_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 Feature1D |
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\brief Simple test: the task is defined to be e_2 = .5 . e'.e, with |
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e the mother task. The jacobian is then J_2 = e'.J, J being the jacobian |
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of the mother task. |
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*/ |
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class SOTFEATURE1D_EXPORT Feature1D : public FeatureAbstract, |
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FeatureReferenceHelper<Feature1D> { |
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public: |
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/*! Field storing the class name. */ |
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static const std::string CLASS_NAME; |
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/*! Returns the name of the class. */ |
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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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/*! \name Signals |
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@{ |
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*/ |
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/*! \name Input signals |
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@{ |
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*/ |
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/*! \brief Input for the error. */ |
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dynamicgraph::SignalPtr<dynamicgraph::Vector, int> errorSIN; |
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/*! \brief Input for the Jacobian. */ |
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dynamicgraph::SignalPtr<dynamicgraph::Matrix, int> jacobianSIN; |
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/*! @} */ |
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/*! \name Output signals |
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@{ |
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*/ |
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/*! \brief Publish the jacobian of the feature according to the robot state. |
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*/ |
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using FeatureAbstract::jacobianSOUT; |
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/*! \brief Publish the error between the desired and the current value of the |
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* feature. */ |
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using FeatureAbstract::errorSOUT; |
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public: |
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/*! \brief Default constructor */ |
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Feature1D(const std::string &name); |
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/*! \brief Default destructor */ |
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virtual ~Feature1D(void) {} |
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/*! \brief Get the dimension of the feature. */ |
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virtual unsigned int &getDimension(unsigned int &dim, int time); |
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/*! \name Methods to trigger computation related to this feature. |
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@{ |
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*/ |
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/*! \brief Compute the error between the desired value and the value itself. |
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*/ |
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virtual dynamicgraph::Vector &computeError(dynamicgraph::Vector &res, |
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int time); |
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/*! \brief Compute the Jacobian of the value according to the robot state.. */ |
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virtual dynamicgraph::Matrix &computeJacobian(dynamicgraph::Matrix &res, |
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int time); |
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/*! @} */ |
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/*! \brief Display the information related to this 1D implementation. */ |
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virtual void display(std::ostream &os) const; |
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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(Feature1D); |
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/*! @} */ |
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}; |
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} /* namespace sot */ |
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} /* namespace dynamicgraph */ |
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#endif // #ifndef __SOT_FEATURE_1D_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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*/ |