10 #ifndef __SOT_FEATURE_LINEDISTANCE_HH__ 11 #define __SOT_FEATURE_LINEDISTANCE_HH__ 26 #if defined(feature_line_distance_EXPORTS) 27 #define SOTFEATURELINEDISTANCE_EXPORT __declspec(dllexport) 29 #define SOTFEATURELINEDISTANCE_EXPORT __declspec(dllimport) 32 #define SOTFEATURELINEDISTANCE_EXPORT 51 virtual const std::string &
getClassName(
void)
const {
return CLASS_NAME; }
59 dynamicgraph::SignalPtr<dynamicgraph::Vector, int>
vectorSIN;
60 dynamicgraph::SignalTimeDependent<dynamicgraph::Vector, int>
lineSOUT;
76 virtual unsigned int &getDimension(
unsigned int &dim,
int time);
78 virtual dynamicgraph::Vector &computeError(dynamicgraph::Vector &res,
80 virtual dynamicgraph::Matrix &computeJacobian(dynamicgraph::Matrix &res,
82 dynamicgraph::Vector &computeLineCoordinates(dynamicgraph::Vector &cood,
85 virtual void display(std::ostream &os)
const;
91 #endif // #ifndef __SOT_FEATURE_LINEDISTANCE_HH__ 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
static const std::string CLASS_NAME
Definition: feature-line-distance.hh:50
dynamicgraph::SignalTimeDependent< dynamicgraph::Vector, int > lineSOUT
Definition: feature-line-distance.hh:60
dynamicgraph::SignalPtr< MatrixHomogeneous, int > positionSIN
Definition: feature-line-distance.hh:56
SignalTimeDependent< dynamicgraph::Matrix, int > jacobianSOUT
Jacobian of the error wrt the robot state: .
Definition: feature-abstract.hh:192
DECLARE_NO_REFERENCE
Definition: feature-line-distance.hh:69
Class that defines point-3d control feature.
Definition: feature-line-distance.hh:46
dynamicgraph::SignalPtr< dynamicgraph::Vector, int > vectorSIN
Definition: feature-line-distance.hh:59
virtual const std::string & getClassName(void) const
Returns the name class.
Definition: feature-line-distance.hh:51
dynamicgraph::SignalPtr< dynamicgraph::Matrix, int > articularJacobianSIN
Definition: feature-line-distance.hh:57
This class gives the abstract definition of a feature.
Definition: feature-abstract.hh:75
virtual ~FeatureLineDistance(void)
Definition: feature-line-distance.hh:74
SignalTimeDependent< dynamicgraph::Vector, int > errorSOUT
This signal returns the error between the desired value and the current value : . ...
Definition: feature-abstract.hh:184
#define SOTFEATURELINEDISTANCE_EXPORT
Definition: feature-line-distance.hh:32
Definition: abstract-sot-external-interface.hh:17
dynamicgraph::SignalPtr< dynamicgraph::Vector, int > positionRefSIN
Definition: feature-line-distance.hh:58