Class that defines 2D visualPoint visual feature. More...

#include <sot/core/feature-visual-point.hh>

Inheritance diagram for dynamicgraph::sot::FeatureVisualPoint:

[legend]

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

	DECLARE_REFERENCE_FUNCTIONS (FeatureVisualPoint)

	FeatureVisualPoint (const std::string &name)

virtual	~FeatureVisualPoint (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::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

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< FeatureVisualPoint >
	FeatureReferenceHelper (void)

void	setReference (FeatureAbstract *sdes)

void	unsetReference (void)

bool	isReferenceSet (void) const

FeatureVisualPoint *	getReference (void)

const FeatureVisualPoint *	getReference (void) const

Static Public Member Functions
static Flags	selectX (void)

static Flags	selectY (void)

Public Attributes
dynamicgraph::SignalPtr< dynamicgraph::Vector, int >	xySIN

dynamicgraph::SignalPtr< double, int >	ZSIN

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 Attributes
dynamicgraph::Matrix	L

Detailed Description

Class that defines 2D visualPoint visual feature.

Constructor & Destructor Documentation

◆ FeatureVisualPoint()

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

◆ ~FeatureVisualPoint()

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

inlinevirtual

Member Function Documentation

◆ computeError()

virtual dynamicgraph::Vector& dynamicgraph::sot::FeatureVisualPoint::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.

◆ computeJacobian()

virtual dynamicgraph::Matrix& dynamicgraph::sot::FeatureVisualPoint::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.

◆ DECLARE_REFERENCE_FUNCTIONS()

dynamicgraph::sot::FeatureVisualPoint::DECLARE_REFERENCE_FUNCTIONS ( FeatureVisualPoint )

◆ display()

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

virtual

◆ getClassName()

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

inlinevirtual

Returns the name class.

Reimplemented from dynamicgraph::sot::FeatureAbstract.

◆ getDimension()

virtual unsigned int& dynamicgraph::sot::FeatureVisualPoint::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.

◆ selectX()

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

inlinestatic

Static Feature selection.

◆ selectY()

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

inlinestatic

Member Data Documentation

◆ articularJacobianSIN

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

◆ CLASS_NAME

const std::string dynamicgraph::sot::FeatureVisualPoint::CLASS_NAME

static

◆ 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: \( J = \frac{\partial {\bf s}}{\partial {\bf q}}\).

◆ L

dynamicgraph::Matrix dynamicgraph::sot::FeatureVisualPoint::L

protected

◆ 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 \( [ 0 1 0] \).

◆ xySIN

dynamicgraph::SignalPtr<dynamicgraph::Vector, int> dynamicgraph::sot::FeatureVisualPoint::xySIN

◆ ZSIN

dynamicgraph::SignalPtr<double, int> dynamicgraph::sot::FeatureVisualPoint::ZSIN

FeatureVisualPoint depth (required to compute the interaction matrix) default Z = 1m.

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

include/sot/core/feature-visual-point.hh

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ FeatureVisualPoint()

◆ ~FeatureVisualPoint()

Member Function Documentation

◆ computeError()

◆ computeJacobian()

◆ DECLARE_REFERENCE_FUNCTIONS()

◆ display()

◆ getClassName()

◆ getDimension()

◆ selectX()

◆ selectY()

Member Data Documentation

◆ articularJacobianSIN

◆ CLASS_NAME

◆ errorSOUT

◆ jacobianSOUT

◆ L

◆ selectionSIN

◆ xySIN

◆ ZSIN