GCC Code Coverage Report
Directory: ./ Exec Total Coverage
File: include/sot/core/feature-point6d-relative.hh Lines: 0 2 0.0 %
Date: 2023-03-13 12:09:37 Branches: 0 0 - %

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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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 */