Class that defines point-6d control feature. More...

#include <sot/core/feature-point6d.hh>

Inheritance diagram for dynamicgraph::sot::FeaturePoint6d:

[legend]

Public Member Functions
virtual const std::string &	getClassName (void) const
	Returns the name class. More...

void	computationFrame (const std::string &inFrame)
	Set computation frame. More...

std::string	computationFrame () const
	Get computation frame. More...

	FeaturePoint6d (const std::string &name)

virtual	~FeaturePoint6d (void)

virtual unsigned int &	getDimension (unsigned int &dim, int time)
	Verbose method. More...

virtual dynamicgraph::Vector &	computeError (dynamicgraph::Vector &res, int time)
	Compute the error between the desired feature and the current value of the feature measured or deduced from the robot state. More...

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

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

virtual void	display (std::ostream &os) const

void	servoCurrentPosition (void)

Dealing with the reference value to be reach with this feature.

	DECLARE_REFERENCE_FUNCTIONS (FeaturePoint6d)

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 Member Functions inherited from dynamicgraph::sot::FeatureReferenceHelper< FeaturePoint6d >
	FeatureReferenceHelper (void)

void	setReference (FeatureAbstract *sdes)

void	unsetReference (void)

bool	isReferenceSet (void) const

FeaturePoint6d *	getReference (void)

const FeaturePoint6d *	getReference (void) const

Static Public Member Functions
static Flags	selectX (void)

static Flags	selectY (void)

static Flags	selectZ (void)

static Flags	selectRX (void)

static Flags	selectRY (void)

static Flags	selectRZ (void)

static Flags	selectTranslation (void)

static Flags	selectRotation (void)

Public Attributes
dynamicgraph::SignalPtr< MatrixHomogeneous, int >	positionSIN

dynamicgraph::SignalPtr< dynamicgraph::Vector, int >	velocitySIN

dynamicgraph::SignalPtr< dynamicgraph::Matrix, int >	articularJacobianSIN

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

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...

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 Types
enum	ComputationFrameType { FRAME_DESIRED , FRAME_CURRENT }

Static Protected Attributes
static const ComputationFrameType	COMPUTATION_FRAME_DEFAULT

Detailed Description

Class that defines point-6d control feature.

Deprecated:: This class was replaced by FeaturePose.

Member Enumeration Documentation

◆ ComputationFrameType

enum dynamicgraph::sot::FeaturePoint6d::ComputationFrameType

protected

Enumerator
FRAME_DESIRED
FRAME_CURRENT

Constructor & Destructor Documentation

◆ FeaturePoint6d()

dynamicgraph::sot::FeaturePoint6d::FeaturePoint6d ( const std::string & name )

◆ ~FeaturePoint6d()

virtual dynamicgraph::sot::FeaturePoint6d::~FeaturePoint6d ( void )

inlinevirtual

Member Function Documentation

◆ computationFrame() [1/2]

std::string dynamicgraph::sot::FeaturePoint6d::computationFrame ( ) const

Get computation frame.

◆ computationFrame() [2/2]

void dynamicgraph::sot::FeaturePoint6d::computationFrame ( const std::string & inFrame )

Set computation frame.

◆ computeError()

virtual dynamicgraph::Vector& dynamicgraph::sot::FeaturePoint6d::computeError	(	dynamicgraph::Vector &	res,
		int	time
	)

virtual

Compute the error between the desired feature and the current value of the feature measured or deduced from the robot state.

[out] res: The error will be set into res.

[in] time: The time at which the error is computed.

Returns: The vector res with the appropriate value.

Implements dynamicgraph::sot::FeatureAbstract.

Reimplemented in dynamicgraph::sot::FeaturePoint6dRelative.

◆ computeErrordot()

virtual dynamicgraph::Vector& dynamicgraph::sot::FeaturePoint6d::computeErrordot	(	dynamicgraph::Vector &	res,
		int	time
	)

virtual

◆ computeJacobian()

virtual dynamicgraph::Matrix& dynamicgraph::sot::FeaturePoint6d::computeJacobian	(	dynamicgraph::Matrix &	res,
		int	time
	)

virtual

Compute the Jacobian of the error according the robot state.

[out] res: The matrix in which the error will be written.

Returns: The matrix res with the appropriate values.

Implements dynamicgraph::sot::FeatureAbstract.

Reimplemented in dynamicgraph::sot::FeaturePoint6dRelative.

◆ DECLARE_REFERENCE_FUNCTIONS()

dynamicgraph::sot::FeaturePoint6d::DECLARE_REFERENCE_FUNCTIONS ( FeaturePoint6d )

◆ display()

virtual void dynamicgraph::sot::FeaturePoint6d::display ( std::ostream & os ) const

virtual

Reimplemented in dynamicgraph::sot::FeaturePoint6dRelative.

◆ getClassName()

virtual const std::string& dynamicgraph::sot::FeaturePoint6d::getClassName ( void ) const

inlinevirtual

Returns the name class.

Reimplemented from dynamicgraph::sot::FeatureAbstract.

Reimplemented in dynamicgraph::sot::FeaturePoint6dRelative.

◆ getDimension()

virtual unsigned int& dynamicgraph::sot::FeaturePoint6d::getDimension	(	unsigned int &	res,
		int	time
	)

virtual

Verbose method.

res: The integer in which the dimension will be return.

time: The time at which the feature should be considered.

Returns: Dimension of the feature.

Note: Be careful with features changing their dimension according to time.

Implements dynamicgraph::sot::FeatureAbstract.

◆ selectRotation()

static Flags dynamicgraph::sot::FeaturePoint6d::selectRotation ( void )

inlinestatic

◆ selectRX()

static Flags dynamicgraph::sot::FeaturePoint6d::selectRX ( void )

inlinestatic

◆ selectRY()

static Flags dynamicgraph::sot::FeaturePoint6d::selectRY ( void )

inlinestatic

◆ selectRZ()

static Flags dynamicgraph::sot::FeaturePoint6d::selectRZ ( void )

inlinestatic

◆ selectTranslation()

static Flags dynamicgraph::sot::FeaturePoint6d::selectTranslation ( void )

inlinestatic

◆ selectX()

static Flags dynamicgraph::sot::FeaturePoint6d::selectX ( void )

inlinestatic

Static Feature selection.

◆ selectY()

static Flags dynamicgraph::sot::FeaturePoint6d::selectY ( void )

inlinestatic

◆ selectZ()

static Flags dynamicgraph::sot::FeaturePoint6d::selectZ ( void )

inlinestatic

◆ servoCurrentPosition()

void dynamicgraph::sot::FeaturePoint6d::servoCurrentPosition ( void )

Member Data Documentation

◆ articularJacobianSIN

dynamicgraph::SignalPtr<dynamicgraph::Matrix, int> dynamicgraph::sot::FeaturePoint6d::articularJacobianSIN

◆ CLASS_NAME

const std::string dynamicgraph::sot::FeaturePoint6d::CLASS_NAME

static

◆ COMPUTATION_FRAME_DEFAULT

const ComputationFrameType dynamicgraph::sot::FeaturePoint6d::COMPUTATION_FRAME_DEFAULT

staticprotected

◆ errorSOUT

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

This signal returns the error between the desired value and the current value : \( E(t) = {\bf s}(t) - {\bf s}^*(t)\).

◆ jacobianSOUT

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

Jacobian of the error wrt the robot state: \( J = \frac{\partial {\bf s}}{\partial {\bf q}}\).

◆ positionSIN

dynamicgraph::SignalPtr<MatrixHomogeneous, int> dynamicgraph::sot::FeaturePoint6d::positionSIN

◆ selectionSIN

SignalPtr<Flags, int> dynamicgraph::sot::FeatureAbstract::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 \( [ 0 1 0] \).

◆ velocitySIN

dynamicgraph::SignalPtr<dynamicgraph::Vector, int> dynamicgraph::sot::FeaturePoint6d::velocitySIN

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

include/sot/core/feature-point6d.hh

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Protected Types

Static Protected Attributes

Detailed Description

Member Enumeration Documentation

◆ ComputationFrameType

Constructor & Destructor Documentation

◆ FeaturePoint6d()

◆ ~FeaturePoint6d()

Member Function Documentation

◆ computationFrame() [1/2]

◆ computationFrame() [2/2]

◆ computeError()

◆ computeErrordot()

◆ computeJacobian()

◆ DECLARE_REFERENCE_FUNCTIONS()

◆ display()

◆ getClassName()

◆ getDimension()

◆ selectRotation()

◆ selectRX()

◆ selectRY()

◆ selectRZ()

◆ selectTranslation()

◆ selectX()

◆ selectY()

◆ selectZ()

◆ servoCurrentPosition()

Member Data Documentation

◆ articularJacobianSIN

◆ CLASS_NAME

◆ COMPUTATION_FRAME_DEFAULT

◆ errorSOUT

◆ jacobianSOUT

◆ positionSIN

◆ selectionSIN

◆ velocitySIN