dynamicgraph::sot::FeatureTask Class Reference
#include <sot/core/feature-task.hh>
Inheritance diagram for dynamicgraph::sot::FeatureTask:
Public Member Functions | |
| virtual const std::string & | getClassName (void) const |
| FeatureTask (const std::string &name) | |
| Default constructor. More... | |
| virtual | ~FeatureTask (void) |
| Default destructor. More... | |
| virtual void | display (std::ostream &os) const |
| Display the information related to this task implementation. More... | |
 Public Member Functions inherited from dynamicgraph::sot::FeatureGeneric | |
| 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... | |
| DECLARE_REFERENCE_FUNCTIONS (FeatureGeneric) | |
| 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... | |
| 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 () |
Static Public Attributes | |
| static const std::string | CLASS_NAME |
| Static Public Attributes inherited from dynamicgraph::sot::FeatureGeneric | |
| 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 | |
| TaskAbstract * | taskPtr |
| Protected Attributes inherited from dynamicgraph::sot::FeatureGeneric | |
| dynamicgraph::Vector::Index | dimensionDefault |
Additional Inherited Members | |
| Public Attributes inherited from dynamicgraph::sot::FeatureGeneric | |
| dynamicgraph::SignalPtr< dynamicgraph::Vector, int > | errorSIN |
| Input for the error. More... | |
| dynamicgraph::SignalPtr< dynamicgraph::Matrix, int > | jacobianSIN |
| Input for the Jacobian. More... | |
| 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... | |
| 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... | |
Constructor & Destructor Documentation
◆ FeatureTask()
| dynamicgraph::sot::FeatureTask::FeatureTask | ( | const std::string & | name | ) |
Default constructor.
◆ ~FeatureTask()
|
inlinevirtual |
Default destructor.
Member Function Documentation
◆ display()
|
virtual |
Display the information related to this task implementation.
Reimplemented from dynamicgraph::sot::FeatureGeneric.
◆ getClassName()
|
inlinevirtual |
Returns the name of the class.
Reimplemented from dynamicgraph::sot::FeatureGeneric.
Member Data Documentation
◆ CLASS_NAME
|
static |
Field storing the class name.
◆ taskPtr
|
protected |
The documentation for this class was generated from the following file:
- include/sot/core/feature-task.hh
