10 #ifndef __SOT_FEATURE_1D_HH__ 11 #define __SOT_FEATURE_1D_HH__ 26 #if defined(feature_1d_EXPORTS) 27 #define SOTFEATURE1D_EXPORT __declspec(dllexport) 29 #define SOTFEATURE1D_EXPORT __declspec(dllimport) 32 #define SOTFEATURE1D_EXPORT 55 virtual const std::string &
getClassName(
void)
const {
return CLASS_NAME; }
67 dynamicgraph::SignalPtr<dynamicgraph::Vector, int>
errorSIN;
70 dynamicgraph::SignalPtr<dynamicgraph::Matrix, int>
jacobianSIN;
93 virtual unsigned int &getDimension(
unsigned int &dim,
int time);
101 virtual dynamicgraph::Vector &computeError(dynamicgraph::Vector &res,
105 virtual dynamicgraph::Matrix &computeJacobian(dynamicgraph::Matrix &res,
111 virtual void display(std::ostream &os)
const;
123 #endif // #ifndef __SOT_FEATURE_1D_HH__ Definition: feature-abstract.hh:227
virtual const std::string & getClassName(void) const
Definition: feature-1d.hh:55
static const std::string CLASS_NAME
Definition: feature-1d.hh:53
SignalTimeDependent< dynamicgraph::Matrix, int > jacobianSOUT
Jacobian of the error wrt the robot state: .
Definition: feature-abstract.hh:192
#define SOTFEATURE1D_EXPORT
Definition: feature-1d.hh:32
dynamicgraph::SignalPtr< dynamicgraph::Matrix, int > jacobianSIN
Input for the Jacobian.
Definition: feature-1d.hh:70
Simple test: the task is defined to be e_2 = .5 . e'.e, with e the mother task. The jacobian is then ...
Definition: feature-1d.hh:48
virtual ~Feature1D(void)
Default destructor.
Definition: feature-1d.hh:90
This class gives the abstract definition of a feature.
Definition: feature-abstract.hh:75
#define DECLARE_REFERENCE_FUNCTIONS(FeatureSpecialized)
Definition: feature-abstract.hh:249
dynamicgraph::SignalPtr< dynamicgraph::Vector, int > errorSIN
Input for the error.
Definition: feature-1d.hh:67
SignalTimeDependent< dynamicgraph::Vector, int > errorSOUT
This signal returns the error between the desired value and the current value : . ...
Definition: feature-abstract.hh:184
Definition: abstract-sot-external-interface.hh:17