1 |
|
|
/* |
2 |
|
|
* Copyright 2010, |
3 |
|
|
* François Bleibel, |
4 |
|
|
* Olivier Stasse, |
5 |
|
|
* |
6 |
|
|
* CNRS/AIST |
7 |
|
|
* |
8 |
|
|
*/ |
9 |
|
|
|
10 |
|
|
#ifndef __SOT_FEATURE_GENERIC_HH__ |
11 |
|
|
#define __SOT_FEATURE_GENERIC_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_generic_EXPORTS) |
27 |
|
|
#define SOTFEATUREGENERIC_EXPORT __declspec(dllexport) |
28 |
|
|
#else |
29 |
|
|
#define SOTFEATUREGENERIC_EXPORT __declspec(dllimport) |
30 |
|
|
#endif |
31 |
|
|
#else |
32 |
|
|
#define SOTFEATUREGENERIC_EXPORT |
33 |
|
|
#endif |
34 |
|
|
|
35 |
|
|
/* --------------------------------------------------------------------- */ |
36 |
|
|
/* --- CLASS ----------------------------------------------------------- */ |
37 |
|
|
/* --------------------------------------------------------------------- */ |
38 |
|
|
|
39 |
|
|
namespace dynamicgraph { |
40 |
|
|
namespace sot { |
41 |
|
|
|
42 |
|
|
/*! |
43 |
|
|
\class FeatureGeneric |
44 |
|
|
\brief Class that defines a generic implementation of the abstract interface |
45 |
|
|
for features. |
46 |
|
|
|
47 |
|
|
This class is very useful if the feature can be easily computed using |
48 |
|
|
the basic operator provided. For instance a free space controller on a |
49 |
|
|
end-effector is basically directly computed from the Jacobian provided |
50 |
|
|
by dyn and some appropriate addition and soustraction. |
51 |
|
|
Instead of building a specific feature for this, it is possible to use the |
52 |
|
|
signals and plug the computed error, Jacobian and activation to the input |
53 |
|
|
of this generic feature implementation. |
54 |
|
|
|
55 |
|
|
*/ |
56 |
|
|
class SOTFEATUREGENERIC_EXPORT FeatureGeneric |
57 |
|
|
: public FeatureAbstract, |
58 |
|
|
FeatureReferenceHelper<FeatureGeneric> { |
59 |
|
|
public: |
60 |
|
|
/*! Field storing the class name. */ |
61 |
|
|
static const std::string CLASS_NAME; |
62 |
|
|
/*! Returns the name of the class. */ |
63 |
|
|
virtual const std::string &getClassName(void) const { return CLASS_NAME; } |
64 |
|
|
|
65 |
|
|
protected: |
66 |
|
|
dynamicgraph::Vector::Index dimensionDefault; |
67 |
|
|
|
68 |
|
|
/* --- SIGNALS ------------------------------------------------------------ */ |
69 |
|
|
public: |
70 |
|
|
/*! \name dynamicgraph::Signals |
71 |
|
|
@{ |
72 |
|
|
*/ |
73 |
|
|
/*! \name Input signals |
74 |
|
|
@{ |
75 |
|
|
*/ |
76 |
|
|
/*! \brief Input for the error. */ |
77 |
|
|
dynamicgraph::SignalPtr<dynamicgraph::Vector, int> errorSIN; |
78 |
|
|
|
79 |
|
|
/*! \brief Input for the Jacobian. */ |
80 |
|
|
dynamicgraph::SignalPtr<dynamicgraph::Matrix, int> jacobianSIN; |
81 |
|
|
|
82 |
|
|
/*! @} */ |
83 |
|
|
|
84 |
|
|
/*! \name Output signals |
85 |
|
|
@{ |
86 |
|
|
*/ |
87 |
|
|
/*! \brief Publish the jacobian of the feature according to the robot state. |
88 |
|
|
*/ |
89 |
|
|
using FeatureAbstract::jacobianSOUT; |
90 |
|
|
|
91 |
|
|
/*! \brief Publish the error between the desired and the current value of the |
92 |
|
|
feature. */ |
93 |
|
|
using FeatureAbstract::errorSOUT; |
94 |
|
|
|
95 |
|
|
public: |
96 |
|
|
/*! \brief Default constructor */ |
97 |
|
|
FeatureGeneric(const std::string &name); |
98 |
|
|
|
99 |
|
|
/*! \brief Default destructor */ |
100 |
|
4 |
virtual ~FeatureGeneric(void) {} |
101 |
|
|
|
102 |
|
|
/*! \brief Get the dimension of the feature. */ |
103 |
|
|
virtual unsigned int &getDimension(unsigned int &dim, int time); |
104 |
|
|
|
105 |
|
|
/*! \name Methods to trigger computation related to this feature. |
106 |
|
|
@{ |
107 |
|
|
*/ |
108 |
|
|
|
109 |
|
|
/*! \brief Compute the error between the desired value and the value itself. |
110 |
|
|
*/ |
111 |
|
|
virtual dynamicgraph::Vector &computeError(dynamicgraph::Vector &res, |
112 |
|
|
int time); |
113 |
|
|
|
114 |
|
|
/*! \brief Compute the Jacobian of the value according to the robot state.. */ |
115 |
|
|
virtual dynamicgraph::Matrix &computeJacobian(dynamicgraph::Matrix &res, |
116 |
|
|
int time); |
117 |
|
|
|
118 |
|
|
/*! @} */ |
119 |
|
|
|
120 |
|
|
/*! \brief Display the information related to this generic implementation. */ |
121 |
|
|
virtual void display(std::ostream &os) const; |
122 |
|
|
|
123 |
|
|
/*! \name Dealing with the reference value to be reach with this feature. |
124 |
|
|
@{ |
125 |
|
|
*/ |
126 |
✗✓✗✗ ✓✗ |
81 |
DECLARE_REFERENCE_FUNCTIONS(FeatureGeneric); |
127 |
|
|
/*! @} */ |
128 |
|
|
}; |
129 |
|
|
|
130 |
|
|
} /* namespace sot */ |
131 |
|
|
} /* namespace dynamicgraph */ |
132 |
|
|
|
133 |
|
|
#endif // #ifndef __SOT_FEATURE_GENERIC_HH__ |
134 |
|
|
|
135 |
|
|
/* |
136 |
|
|
* Local variables: |
137 |
|
|
* c-basic-offset: 2 |
138 |
|
|
* End: |
139 |
|
|
*/ |