The general definition of feature is provided by dynamicgraph::sot::FeatureAbstract .

The list of features that are provided are:

Feature1D : \( L_2 \) norm of \( e(t)\) dynamicgraph::sot::Feature1D
FeatureGeneric : Externalisation of the Feature computation dynamicgraph::sot::FeatureGeneric
FeatureJointLimits : Distance to the joint limits and its Jacobian dynamicgraph::sot::FeatureJointLimits
FeatureLineDistance : Regulate the distance of a line through a body to a reference point dynamicgraph::sot::FeatureLineDistance
FeaturePoint6d : Regulate the distance from a pose on a body to a point reference. dynamicgraph::sot::FeaturePoint6d
FeaturePoint6dRelative : Regulate a relative distance between two bodies. dynamicgraph::sot::FeatuePoint6dRelative
FeaturePosture : Regulate the posture between the current one and a reference. dynamicgraph::sot::FeaturePosture
FeatureReferenceHelper : dynamicgraph::sot::FeatureReferenceHelper
FeatureTask : dynamicgraph::sot::FeatureTask
FeatureVector3 : dynamicgraph::sot::FeatureVector3
FeatureVisualPoint : : dynamicgraph::sot::FeatureVisualPoint