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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_OP_POINT_MODIFIOR_H__ |
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#define __SOT_OP_POINT_MODIFIOR_H__ |
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#include <dynamic-graph/all-signals.h> |
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#include <dynamic-graph/entity.h> |
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#include <sot/core/debug.hh> |
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#include <sot/core/matrix-geometry.hh> |
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/* Matrix */ |
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#include <dynamic-graph/linear-algebra.h> |
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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(op_point_modifier_EXPORTS) |
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#define SOTOPPOINTMODIFIER_EXPORT __declspec(dllexport) |
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#else |
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#define SOTOPPOINTMODIFIER_EXPORT __declspec(dllimport) |
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#endif |
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#else |
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#define SOTOPPOINTMODIFIER_EXPORT |
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#endif |
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/* --------------------------------------------------------------------- */ |
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/* --- VECTOR ---------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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namespace dynamicgraph { |
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namespace sot { |
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/// |
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/// \brief Compute position and jacobian of a local frame attached to a joint. |
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/// |
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/// The position of the local frame in the frame of the joint is represented by |
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/// transformation. |
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/// |
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class SOTOPPOINTMODIFIER_EXPORT OpPointModifier : public dynamicgraph::Entity { |
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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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public: |
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dynamicgraph::SignalPtr<dynamicgraph::Matrix, int> jacobianSIN; |
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dynamicgraph::SignalPtr<MatrixHomogeneous, int> positionSIN; |
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dynamicgraph::SignalTimeDependent<dynamicgraph::Matrix, int> jacobianSOUT; |
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dynamicgraph::SignalTimeDependent<MatrixHomogeneous, int> positionSOUT; |
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public: |
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OpPointModifier(const std::string &name); |
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virtual ~OpPointModifier(void) {} |
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dynamicgraph::Matrix &jacobianSOUT_function(dynamicgraph::Matrix &res, |
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const int &time); |
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MatrixHomogeneous &positionSOUT_function(MatrixHomogeneous &res, |
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const int &time); |
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void setTransformation(const Eigen::Matrix4d &tr); |
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void setTransformationBySignalName(std::istringstream &cmdArgs); |
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const Eigen::Matrix4d &getTransformation(void); |
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private: |
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MatrixHomogeneous transformation; |
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/* This bool tunes the effect of the modifier for end-effector Jacobian (ie |
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* the output velocity is expressed in the end-effector frame) of from the |
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* world-ref Jacobian (ie |
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* the ouput velocity is computed in the world frame). */ |
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bool isEndEffector; |
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}; |
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} /* namespace sot */ |
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} /* namespace dynamicgraph */ |
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#endif // __SOT_OP_POINT_MODIFIOR_H__ |