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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_POINT6D_HH__ |
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#define __SOT_FEATURE_POINT6D_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-feature.hh> |
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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/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_EXPORTS) |
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#define SOTFEATUREPOINT6D_EXPORT __declspec(dllexport) |
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#else |
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#define SOTFEATUREPOINT6D_EXPORT __declspec(dllimport) |
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#endif |
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#else |
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#define SOTFEATUREPOINT6D_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 FeaturePoint6d |
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\brief Class that defines point-6d control feature. |
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\deprecated This class was replaced by FeaturePose. |
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*/ |
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class [[deprecated( |
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"replaced by FeaturePose")]] SOTFEATUREPOINT6D_EXPORT FeaturePoint6d |
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: public FeatureAbstract, |
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public FeatureReferenceHelper<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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/* --- Frame type --------------------------------------------------------- */ |
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protected: |
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enum ComputationFrameType { FRAME_DESIRED, FRAME_CURRENT }; |
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static const ComputationFrameType COMPUTATION_FRAME_DEFAULT; |
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public: |
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/// \brief Set computation frame |
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void computationFrame(const std::string &inFrame); |
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/// \brief Get computation frame |
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std::string computationFrame() const; |
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private: |
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ComputationFrameType computationFrame_; |
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/* --- SIGNALS ------------------------------------------------------------ */ |
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public: |
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dynamicgraph::SignalPtr<MatrixHomogeneous, int> positionSIN; |
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dynamicgraph::SignalPtr<dynamicgraph::Vector, int> velocitySIN; |
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dynamicgraph::SignalPtr<dynamicgraph::Matrix, int> articularJacobianSIN; |
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using FeatureAbstract::errorSOUT; |
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using FeatureAbstract::jacobianSOUT; |
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using FeatureAbstract::selectionSIN; |
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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(FeaturePoint6d); |
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/*! @} */ |
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public: |
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FeaturePoint6d(const std::string &name); |
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virtual ~FeaturePoint6d(void) {} |
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virtual unsigned int &getDimension(unsigned int &dim, int time); |
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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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/** Static Feature selection. */ |
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inline static Flags selectX(void) { return Flags("100000"); } |
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inline static Flags selectY(void) { return Flags("010000"); } |
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inline static Flags selectZ(void) { return Flags("001000"); } |
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inline static Flags selectRX(void) { return Flags("000100"); } |
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inline static Flags selectRY(void) { return Flags("000010"); } |
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inline static Flags selectRZ(void) { return Flags("000001"); } |
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inline static Flags selectTranslation(void) { return Flags("111000"); } |
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inline static Flags selectRotation(void) { return Flags("000111"); } |
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virtual void display(std::ostream & os) const; |
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public: |
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void servoCurrentPosition(void); |
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private: |
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// Intermediate variables for internal computations |
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Eigen::Vector3d v_, omega_, errordot_t_, errordot_th_, Rreftomega_, t_, tref_; |
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VectorUTheta error_th_; |
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MatrixRotation R_, Rref_, Rt_, Rreft_; |
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Eigen::Matrix3d P_, Pinv_; |
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double accuracy_; |
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void inverseJacobianRodrigues(); |
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}; |
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} /* namespace sot */ |
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} /* namespace dynamicgraph */ |
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#endif // #ifndef __SOT_FEATURE_POINT6D_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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*/ |