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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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/* --- INCLUDES ------------------------------------------------------------- */ |
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/* -------------------------------------------------------------------------- */ |
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#include <iostream> |
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//#include <sot/core/sot-h.hh> |
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#include <dynamic-graph/linear-algebra.h> |
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#include <sot/core/debug.hh> |
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#include <sot/core/feature-abstract.hh> |
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#include <sot/core/feature-visual-point.hh> |
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#include <sot/core/gain-adaptive.hh> |
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#include <sot/core/task.hh> |
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using namespace std; |
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using namespace dynamicgraph::sot; |
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double drand(void) { return 2 * ((double)rand()) / RAND_MAX - 1; } |
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dynamicgraph::Matrix &mrand(dynamicgraph::Matrix &J) { |
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for (int i = 0; i < J.rows(); ++i) |
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for (int j = 0; j < J.cols(); ++j) J(i, j) = drand(); |
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return J; |
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} |
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1 |
int main(void) { |
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1 |
sotDEBUGF("# In {"); |
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1 |
srand(12); |
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37 |
✓✗ | 2 |
dynamicgraph::Matrix Jq(6, 6); |
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✓✗ | 1 |
Jq.setIdentity(); |
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✓✗ | 1 |
dynamicgraph::Vector p1xy(2); |
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✓✗ | 1 |
p1xy(0) = 1.; |
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✓✗ | 1 |
p1xy(1) = -2; |
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1 |
sotDEBUGF("Create feature"); |
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✓✗✓✗ ✓✗ |
1 |
FeatureVisualPoint *p1 = new FeatureVisualPoint("p1"); |
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✓✗✓✗ ✓✗ |
1 |
FeatureVisualPoint *p1des = new FeatureVisualPoint("p1des"); |
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✓✗ | 1 |
p1->articularJacobianSIN.setReference(&Jq); |
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✓✗✓✗ |
1 |
p1->selectionSIN = Flags(true); |
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✓✗ | 1 |
p1->setReference(p1des); |
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✓✗ | 1 |
p1->xySIN = p1xy; |
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✓✗✓✗ |
1 |
p1des->xySIN = dynamicgraph::Vector(2); |
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1 |
sotDEBUGF("Create Task"); |
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// sotDEBUG(0) << dynamicgraph::MATLAB; |
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✓✗✓✗ ✓✗ |
1 |
Task *task = new Task("task"); |
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✓✗ | 1 |
task->addFeature(*p1); |
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✓✗ | 1 |
task->addFeature(*p1); |
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✓✗✓✗ ✓✗ |
1 |
GainAdaptive *lambda = new GainAdaptive("g"); |
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✓✗ | 1 |
lambda->errorSIN.plug(&task->errorSOUT); |
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✓✗ | 1 |
task->controlGainSIN.plug(&lambda->gainSOUT); |
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✓✗ | 1 |
task->dampingGainSINOUT = .1; |
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✓✗✓✗ |
1 |
task->controlSelectionSIN = Flags(true); |
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✓✗✓✗ |
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task->jacobianSOUT.display(cout) << endl; |
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✓✗✓✗ ✓✗✓✗ ✓✗ |
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task->jacobianSOUT.displayDependencies(cout) << endl; |
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sotDEBUG(0) << "J" << task->jacobianSOUT(2); |
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sotDEBUG(0) << "e" << task->errorSOUT(2) << endl; |
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1 |
sotDEBUGF("# Out }"); |
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1 |
return 0; |
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} |
| Generated by: GCOVR (Version 4.2) |