10 #ifndef __SOT_FEATURE_VISUALPOINT_HH__ 11 #define __SOT_FEATURE_VISUALPOINT_HH__ 26 #if defined(feature_visual_point_EXPORTS) 27 #define SOTFEATUREVISUALPOINT_EXPORT __declspec(dllexport) 29 #define SOTFEATUREVISUALPOINT_EXPORT __declspec(dllimport) 32 #define SOTFEATUREVISUALPOINT_EXPORT 52 virtual const std::string &
getClassName(
void)
const {
return CLASS_NAME; }
55 dynamicgraph::Matrix
L;
59 dynamicgraph::SignalPtr<dynamicgraph::Vector, int>
xySIN;
62 dynamicgraph::SignalPtr<double, int>
ZSIN;
75 virtual unsigned int &getDimension(
unsigned int &dim,
int time);
77 virtual dynamicgraph::Vector &computeError(dynamicgraph::Vector &res,
79 virtual dynamicgraph::Matrix &computeJacobian(dynamicgraph::Matrix &res,
86 virtual void display(std::ostream &os)
const;
92 #endif // #ifndef __SOT_FEATURE_VISUALPOINT_HH__ static const std::string CLASS_NAME
Definition: feature-visual-point.hh:51
virtual const std::string & getClassName(void) const
Returns the name class.
Definition: feature-visual-point.hh:52
dynamicgraph::SignalPtr< dynamicgraph::Matrix, int > articularJacobianSIN
Definition: feature-visual-point.hh:63
SignalPtr< Flags, int > selectionSIN
This vector specifies which dimension are used to perform the computation. For instance let us assume...
Definition: feature-abstract.hh:172
Definition: feature-abstract.hh:227
SOT_CORE_EXPORT const Flags FLAG_LINE_2
static Flags selectY(void)
Definition: feature-visual-point.hh:84
dynamicgraph::Matrix L
Definition: feature-visual-point.hh:55
SignalTimeDependent< dynamicgraph::Matrix, int > jacobianSOUT
Jacobian of the error wrt the robot state: .
Definition: feature-abstract.hh:192
static Flags selectX(void)
Definition: feature-visual-point.hh:83
Class that defines 2D visualPoint visual feature.
Definition: feature-visual-point.hh:46
SOT_CORE_EXPORT const Flags FLAG_LINE_1
dynamicgraph::SignalPtr< double, int > ZSIN
Definition: feature-visual-point.hh:62
#define SOTFEATUREVISUALPOINT_EXPORT
Definition: feature-visual-point.hh:32
This class gives the abstract definition of a feature.
Definition: feature-abstract.hh:75
dynamicgraph::SignalPtr< dynamicgraph::Vector, int > xySIN
Definition: feature-visual-point.hh:59
#define DECLARE_REFERENCE_FUNCTIONS(FeatureSpecialized)
Definition: feature-abstract.hh:249
SignalTimeDependent< dynamicgraph::Vector, int > errorSOUT
This signal returns the error between the desired value and the current value : . ...
Definition: feature-abstract.hh:184
virtual ~FeatureVisualPoint(void)
Definition: feature-visual-point.hh:73
Definition: abstract-sot-external-interface.hh:17