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/* |
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* Copyright 2010, |
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* Florent Lamiraux |
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* Thomas Moulard, |
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* |
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* CNRS/AIST |
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* |
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*/ |
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#ifndef SOT_CORE_FEATURE_POSTURE_HH |
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#define SOT_CORE_FEATURE_POSTURE_HH |
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#include <dynamic-graph/signal-ptr.h> |
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#include <dynamic-graph/signal-time-dependent.h> |
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#include <dynamic-graph/value.h> |
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#include "sot/core/api.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_posture_EXPORTS) |
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#define SOTFEATUREPOSTURE_EXPORT __declspec(dllexport) |
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#else |
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#define SOTFEATUREPOSTURE_EXPORT __declspec(dllimport) |
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#endif |
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#else |
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#define SOTFEATUREPOSTURE_EXPORT |
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#endif |
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namespace dynamicgraph { |
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namespace sot { |
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using command::Command; |
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using command::Value; |
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/*! @class dynamicgraph::sot::FeaturePosture feature-posture.hh |
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* Feature that observes the posture of the robot, ie whose Jacobian is the |
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* identity, or slices of the identity. This feature can be exactly |
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* obtained with a generic posture, given the identity matrix as the input |
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* Jacobian, the identity matrix. It is even prefereable, as the reference |
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* value is then given by a signal, which can be reevalutated at each |
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* iteration, for example to track a reference trajectory in the |
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* configuration space. See for example the toFlag python function in the |
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* sot-dyninv module to nicely selec the posture DOF. |
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*/ |
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class SOTFEATUREPOSTURE_EXPORT FeaturePosture : public FeatureAbstract { |
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class SelectDof; |
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friend class SelectDof; |
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DYNAMIC_GRAPH_ENTITY_DECL(); |
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public: |
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typedef dynamicgraph::SignalPtr<dynamicgraph::Vector, int> signalIn_t; |
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typedef dynamicgraph::SignalTimeDependent<dynamicgraph::Vector, int> |
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signalOut_t; |
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DECLARE_NO_REFERENCE; |
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explicit FeaturePosture(const std::string &name); |
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virtual ~FeaturePosture(); |
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virtual unsigned int &getDimension(unsigned int &res, int); |
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void selectDof(unsigned dofId, bool control); |
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protected: |
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virtual dynamicgraph::Vector &computeError(dynamicgraph::Vector &res, int); |
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virtual dynamicgraph::Matrix &computeJacobian(dynamicgraph::Matrix &res, int); |
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virtual dynamicgraph::Vector &computeErrorDot(dynamicgraph::Vector &res, |
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int time); |
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signalIn_t state_; |
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signalIn_t posture_; |
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signalIn_t postureDot_; |
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signalOut_t error_; |
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private: |
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std::vector<bool> activeDofs_; |
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std::size_t nbActiveDofs_; |
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}; // class FeaturePosture |
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} // namespace sot |
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} // namespace dynamicgraph |
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#endif // SOT_CORE_FEATURE_POSTURE_HH |