sot-core  4.10.1
Hierarchical task solver plug-in for dynamic-graph.
feature-point6d-relative.hh
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1 /*
2  * Copyright 2010,
3  * François Bleibel,
4  * Olivier Stasse,
5  *
6  * CNRS/AIST
7  *
8  */
9 
10 #ifndef __SOT_FEATURE_POINT6DRELATIVE_HH__
11 #define __SOT_FEATURE_POINT6DRELATIVE_HH__
12 
13 /* --------------------------------------------------------------------- */
14 /* --- INCLUDE --------------------------------------------------------- */
15 /* --------------------------------------------------------------------- */
16 
17 /* SOT */
22 
23 /* --------------------------------------------------------------------- */
24 /* --- API ------------------------------------------------------------- */
25 /* --------------------------------------------------------------------- */
26 
27 #if defined(WIN32)
28 #if defined(feature_point6d_relative_EXPORTS)
29 #define SOTFEATUREPOINT6DRELATIVE_EXPORT __declspec(dllexport)
30 #else
31 #define SOTFEATUREPOINT6DRELATIVE_EXPORT __declspec(dllimport)
32 #endif
33 #else
34 #define SOTFEATUREPOINT6DRELATIVE_EXPORT
35 #endif
36 
37 /* --------------------------------------------------------------------- */
38 /* --- CLASS ----------------------------------------------------------- */
39 /* --------------------------------------------------------------------- */
40 
41 namespace dynamicgraph {
42 namespace sot {
43 
51  : public FeaturePoint6d {
52 
53 public:
54  static const std::string CLASS_NAME;
55  virtual const std::string &getClassName(void) const { return CLASS_NAME; }
56 
57 protected:
58  dynamicgraph::Matrix L;
59 
60  /* --- SIGNALS ------------------------------------------------------------ */
61 public:
62  dynamicgraph::SignalPtr<MatrixHomogeneous, int> positionReferenceSIN;
63  dynamicgraph::SignalPtr<dynamicgraph::Matrix, int>
65 
73  dynamicgraph::SignalPtr<MatrixHomogeneous, int> dotpositionSIN;
75  dynamicgraph::SignalPtr<MatrixHomogeneous, int> dotpositionReferenceSIN;
79 
80 public:
81  FeaturePoint6dRelative(const std::string &name);
82  virtual ~FeaturePoint6dRelative(void) {}
83 
84  virtual dynamicgraph::Vector &computeError(dynamicgraph::Vector &res,
85  int time);
86  virtual dynamicgraph::Vector &computeErrorDot(dynamicgraph::Vector &res,
87  int time);
88  virtual dynamicgraph::Matrix &computeJacobian(dynamicgraph::Matrix &res,
89  int time);
90 
91  virtual void display(std::ostream &os) const;
92 
93  void initCommands(void);
94  void initSdes(const std::string &featureDesiredName);
95 };
96 
97 } /* namespace sot */
98 } /* namespace dynamicgraph */
99 
100 #endif // #ifndef __SOT_FEATURE_POINT6DRELATIVE_HH__
101 
102 /*
103  * Local variables:
104  * c-basic-offset: 2
105  * End:
106  */
dynamicgraph::SignalPtr< MatrixHomogeneous, int > dotpositionReferenceSIN
Definition: feature-point6d-relative.hh:75
Class that defines point-6d control feature.
Definition: feature-point6d.hh:49
virtual ~FeaturePoint6dRelative(void)
Definition: feature-point6d-relative.hh:82
#define SOTFEATUREPOINT6DRELATIVE_EXPORT
Definition: feature-point6d-relative.hh:34
dynamicgraph::Matrix L
Definition: feature-point6d-relative.hh:58
dynamicgraph::SignalPtr< MatrixHomogeneous, int > positionReferenceSIN
Definition: feature-point6d-relative.hh:62
dynamicgraph::SignalPtr< MatrixHomogeneous, int > dotpositionSIN
Definition: feature-point6d-relative.hh:73
static const std::string CLASS_NAME
Definition: feature-point6d-relative.hh:54
FeaturePoint6d * getReference(void)
Definition: feature-abstract.hh:238
Class that defines the motion of a point of the body wrt. another point.
Definition: feature-point6d-relative.hh:50
Definition: abstract-sot-external-interface.hh:17
virtual const std::string & getClassName(void) const
Returns the name class.
Definition: feature-point6d-relative.hh:55
dynamicgraph::SignalPtr< dynamicgraph::Matrix, int > articularJacobianReferenceSIN
Definition: feature-point6d-relative.hh:64