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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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/* --------------------------------------------------------------------- */ |
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/* --- INCLUDE --------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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/* --- SOT --- */ |
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#include <sot/core/debug.hh> |
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#include <sot/core/exception-feature.hh> |
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#include <sot/core/feature-1d.hh> |
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using namespace std; |
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#include <sot/core/factory.hh> |
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using namespace dynamicgraph::sot; |
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using namespace dynamicgraph; |
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DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(Feature1D, "Feature1D"); |
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/* --------------------------------------------------------------------- */ |
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/* --- CLASS ----------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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Feature1D::Feature1D(const string &pointName) |
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: FeatureAbstract(pointName), |
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errorSIN(NULL, "sotFeature1D(" + name + ")::input(vector)::errorIN"), |
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jacobianSIN(NULL, |
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"sotFeature1D(" + name + ")::input(matrix)::jacobianIN") { |
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jacobianSOUT.addDependency(jacobianSIN); |
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errorSOUT.addDependency(errorSIN); |
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signalRegistration(errorSIN << jacobianSIN); |
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} |
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/* --------------------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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void Feature1D::addDependenciesFromReference(void) {} |
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void Feature1D::removeDependenciesFromReference(void) {} |
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/* --------------------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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unsigned int &Feature1D::getDimension(unsigned int &dim, int /*time*/) { |
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sotDEBUG(25) << "# In {" << endl; |
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dim = 1; |
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sotDEBUG(25) << "# Out }" << endl; |
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return dim; |
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} |
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dynamicgraph::Vector &Feature1D::computeError(dynamicgraph::Vector &res, |
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int time) { |
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const dynamicgraph::Vector &err = errorSIN.access(time); |
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res.resize(1); |
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res(0) = err.dot(err) * .5; |
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return res; |
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} |
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dynamicgraph::Matrix &Feature1D::computeJacobian(dynamicgraph::Matrix &res, |
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int time) { |
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sotDEBUGIN(15); |
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const dynamicgraph::Matrix &Jac = jacobianSIN.access(time); |
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const dynamicgraph::Vector &err = errorSIN.access(time); |
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res.resize(1, Jac.cols()); |
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res.fill(0); |
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for (int j = 0; j < Jac.cols(); ++j) |
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for (int i = 0; i < Jac.rows(); ++i) res(0, j) += err(i) * Jac(i, j); |
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sotDEBUGOUT(15); |
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return res; |
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} |
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/* --------------------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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void Feature1D::display(std::ostream &os) const { |
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os << "1D <" << name << ">: " << std::endl; |
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try { |
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os << " error= " << errorSIN.accessCopy() << endl |
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<< " J = " << jacobianSIN.accessCopy() << endl; |
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} catch (ExceptionAbstract e) { |
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os << " All SIN not set."; |
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} |
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} |