Class that defines a generic implementation of the abstract interface for features. More...

#include <sot/core/feature-generic.hh>

Inheritance diagram for dynamicgraph::sot::FeatureGeneric:

[legend]

Public Member Functions
virtual const std::string &	getClassName (void) const

virtual void	display (std::ostream &os) const
	Display the information related to this generic implementation. More...

Methods to trigger computation related to this feature.
virtual dynamicgraph::Vector &	computeError (dynamicgraph::Vector &res, int time)
	Compute the error between the desired value and the value itself. More...

virtual dynamicgraph::Matrix &	computeJacobian (dynamicgraph::Matrix &res, int time)
	Compute the Jacobian of the value according to the robot state.. More...

Dealing with the reference value to be reach with this feature.
	DECLARE_REFERENCE_FUNCTIONS (FeatureGeneric)

Public Member Functions inherited from dynamicgraph::sot::FeatureAbstract
void	featureRegistration (void)
	Register the feature in the stack of tasks. More...

void	initCommands (void)

	FeatureAbstract (const std::string &name)
	Default constructor: the name of the class should be given. More...

virtual	~FeatureAbstract (void)
	Default destructor. More...

unsigned int	getDimension (int time)
	Short method. More...

unsigned int	getDimension (void) const
	Shortest method. More...

virtual dynamicgraph::Vector &	computeErrorDot (dynamicgraph::Vector &res, int time)

virtual void	setReference (FeatureAbstract *sdes)=0

virtual void	unsetReference (void)

virtual const FeatureAbstract *	getReferenceAbstract (void) const =0

virtual FeatureAbstract *	getReferenceAbstract (void)=0

virtual bool	isReferenceSet (void) const

virtual void	addDependenciesFromReference (void)=0

virtual void	removeDependenciesFromReference (void)=0

void	setReferenceByName (const std::string &name)

std::string	getReferenceByName (void) const

virtual std::ostream &	writeGraph (std::ostream &os) const
	This method write a graph description on the file named FileName. More...

virtual SignalTimeDependent< dynamicgraph::Vector, int > &	getErrorDot ()

Public Attributes
Input signals
dynamicgraph::SignalPtr< dynamicgraph::Vector, int >	errorSIN
	Input for the error. More...

dynamicgraph::SignalPtr< dynamicgraph::Matrix, int >	jacobianSIN
	Input for the Jacobian. More...

Public Attributes inherited from dynamicgraph::sot::FeatureAbstract
SignalPtr< Flags, int >	selectionSIN
	This vector specifies which dimension are used to perform the computation. For instance let us assume that the feature is a 3D point. If only the Y-axis should be used for computing error, activation and Jacobian, then the vector to specify is \( [ 0 1 0] \). More...

SignalPtr< dynamicgraph::Vector, int >	errordotSIN
	Derivative of the reference value. More...

SignalTimeDependent< dynamicgraph::Vector, int >	errorSOUT
	This signal returns the error between the desired value and the current value : \( E(t) = {\bf s}(t) - {\bf s}^*(t)\). More...

SignalTimeDependent< dynamicgraph::Vector, int >	errordotSOUT
	Derivative of the error with respect to time: \( \frac{\partial e}{\partial t} = - \frac{d{\bf s}^*}{dt} \). More...

SignalTimeDependent< dynamicgraph::Matrix, int >	jacobianSOUT
	Jacobian of the error wrt the robot state: \( J = \frac{\partial {\bf s}}{\partial {\bf q}}\). More...

SignalTimeDependent< unsigned int, int >	dimensionSOUT
	Returns the dimension of the feature as an output signal. More...

Static Public Attributes
static const std::string	CLASS_NAME

Static Public Attributes inherited from dynamicgraph::sot::FeatureAbstract
static const std::string	CLASS_NAME
	Store the name of the class. More...

Protected Attributes
dynamicgraph::Vector::Index	dimensionDefault

Output signals
SignalTimeDependent< dynamicgraph::Matrix, int >	jacobianSOUT
	Publish the jacobian of the feature according to the robot state. More...

SignalTimeDependent< dynamicgraph::Vector, int >	errorSOUT
	Publish the error between the desired and the current value of the feature. More...

	FeatureGeneric (const std::string &name)
	Default constructor. More...

virtual	~FeatureGeneric (void)
	Default destructor. More...

virtual unsigned int &	getDimension (unsigned int &dim, int time)
	Get the dimension of the feature. More...

Detailed Description

Class that defines a generic implementation of the abstract interface for features.

This class is very useful if the feature can be easily computed using the basic operator provided. For instance a free space controller on a end-effector is basically directly computed from the Jacobian provided by dyn and some appropriate addition and soustraction. Instead of building a specific feature for this, it is possible to use the signals and plug the computed error, Jacobian and activation to the input of this generic feature implementation.

Constructor & Destructor Documentation

◆ FeatureGeneric()

dynamicgraph::sot::FeatureGeneric::FeatureGeneric ( const std::string & name )

Default constructor.

◆ ~FeatureGeneric()

virtual dynamicgraph::sot::FeatureGeneric::~FeatureGeneric ( void )

inlinevirtual

Default destructor.

Member Function Documentation

◆ computeError()

virtual dynamicgraph::Vector& dynamicgraph::sot::FeatureGeneric::computeError	(	dynamicgraph::Vector &	res,
		int	time
	)

virtual

Compute the error between the desired value and the value itself.

Implements dynamicgraph::sot::FeatureAbstract.

◆ computeJacobian()

virtual dynamicgraph::Matrix& dynamicgraph::sot::FeatureGeneric::computeJacobian	(	dynamicgraph::Matrix &	res,
		int	time
	)

virtual

Compute the Jacobian of the value according to the robot state..

Implements dynamicgraph::sot::FeatureAbstract.

◆ DECLARE_REFERENCE_FUNCTIONS()

dynamicgraph::sot::FeatureGeneric::DECLARE_REFERENCE_FUNCTIONS ( FeatureGeneric )

◆ display()

virtual void dynamicgraph::sot::FeatureGeneric::display ( std::ostream & os ) const

virtual

Display the information related to this generic implementation.

Reimplemented in dynamicgraph::sot::FeatureTask.

◆ getClassName()

virtual const std::string& dynamicgraph::sot::FeatureGeneric::getClassName ( void ) const

inlinevirtual

Returns the name of the class.

Reimplemented from dynamicgraph::sot::FeatureAbstract.

Reimplemented in dynamicgraph::sot::FeatureTask.

◆ getDimension()

virtual unsigned int& dynamicgraph::sot::FeatureGeneric::getDimension	(	unsigned int &	dim,
		int	time
	)

virtual

Get the dimension of the feature.

Implements dynamicgraph::sot::FeatureAbstract.

Member Data Documentation

◆ CLASS_NAME

const std::string dynamicgraph::sot::FeatureGeneric::CLASS_NAME

static

Field storing the class name.

◆ dimensionDefault

dynamicgraph::Vector::Index dynamicgraph::sot::FeatureGeneric::dimensionDefault

protected

◆ errorSIN

dynamicgraph::SignalPtr<dynamicgraph::Vector, int> dynamicgraph::sot::FeatureGeneric::errorSIN

Input for the error.

◆ errorSOUT

SignalTimeDependent<dynamicgraph::Vector, int> dynamicgraph::sot::FeatureAbstract::errorSOUT

Publish the error between the desired and the current value of the feature.

◆ jacobianSIN

dynamicgraph::SignalPtr<dynamicgraph::Matrix, int> dynamicgraph::sot::FeatureGeneric::jacobianSIN

Input for the Jacobian.

◆ jacobianSOUT

SignalTimeDependent<dynamicgraph::Matrix, int> dynamicgraph::sot::FeatureAbstract::jacobianSOUT

Publish the jacobian of the feature according to the robot state.

The documentation for this class was generated from the following file:

include/sot/core/feature-generic.hh

Public Member Functions

Public Attributes

Static Public Attributes

Protected Attributes

Output signals

Detailed Description

Constructor & Destructor Documentation

◆ FeatureGeneric()

◆ ~FeatureGeneric()

Member Function Documentation

◆ computeError()

◆ computeJacobian()

◆ DECLARE_REFERENCE_FUNCTIONS()

◆ display()

◆ getClassName()

◆ getDimension()

Member Data Documentation

◆ CLASS_NAME

◆ dimensionDefault

◆ errorSIN

◆ errorSOUT

◆ jacobianSIN

◆ jacobianSOUT