10 #ifndef __SOT_FEATURE_ABSTRACT_H__ 11 #define __SOT_FEATURE_ABSTRACT_H__ 18 #include <dynamic-graph/linear-algebra.h> 22 #include "sot/core/deprecated.hh" 23 #include <dynamic-graph/all-signals.h> 24 #include <dynamic-graph/entity.h> 81 virtual const std::string &
getClassName(
void)
const {
return CLASS_NAME; }
84 void featureRegistration(
void);
86 void initCommands(
void);
103 virtual unsigned int &getDimension(
unsigned int &res,
int time) = 0;
112 getDimension(res, time);
121 return dimensionSOUT.accessCopy();
139 virtual dynamicgraph::Vector &computeError(dynamicgraph::Vector &res,
147 virtual dynamicgraph::Matrix &computeJacobian(dynamicgraph::Matrix &res,
154 virtual dynamicgraph::Vector &computeErrorDot(dynamicgraph::Vector &res,
184 SignalTimeDependent<dynamicgraph::Vector, int>
errorSOUT;
199 virtual std::ostream &writeGraph(std::ostream &os)
const;
201 virtual SignalTimeDependent<dynamicgraph::Vector, int> &
getErrorDot() {
218 virtual void addDependenciesFromReference(
void) = 0;
219 virtual void removeDependenciesFromReference(
void) = 0;
222 void setReferenceByName(
const std::string &name);
223 std::string getReferenceByName(
void)
const;
228 FeatureSpecialized *ptr;
242 template <
class FeatureSpecialized>
245 ptr =
dynamic_cast<FeatureSpecialized *
>(sdes);
249 #define DECLARE_REFERENCE_FUNCTIONS(FeatureSpecialized) \ 250 typedef FeatureReferenceHelper<FeatureSpecialized> SP; \ 251 virtual void setReference(FeatureAbstract *sdes) { \ 252 if (sdes == NULL) { \ 254 if (SP::isReferenceSet()) \ 255 removeDependenciesFromReference(); \ 256 SP::unsetReference(); \ 259 SP::setReference(sdes); \ 260 if (SP::isReferenceSet()) \ 261 addDependenciesFromReference(); \ 264 virtual const FeatureAbstract *getReferenceAbstract(void) const { \ 265 return SP::getReference(); \ 267 virtual FeatureAbstract *getReferenceAbstract(void) { \ 268 return (FeatureAbstract *)SP::getReference(); \ 270 bool isReferenceSet(void) const { return SP::isReferenceSet(); } \ 271 virtual void addDependenciesFromReference(void); \ 272 virtual void removeDependenciesFromReference(void) 275 #define DECLARE_NO_REFERENCE \ 276 virtual void setReference(FeatureAbstract *) {} \ 277 virtual const FeatureAbstract *getReferenceAbstract(void) const { \ 280 virtual FeatureAbstract *getReferenceAbstract(void) { return NULL; } \ 281 virtual void addDependenciesFromReference(void) {} \ 282 virtual void removeDependenciesFromReference(void) {} \ 289 #endif // #ifndef __SOT_FEATURE_ABSTRACT_H__ SignalTimeDependent< dynamicgraph::Vector, int > errordotSOUT
Derivative of the error with respect to time: .
Definition: feature-abstract.hh:188
Definition: feature-abstract.hh:227
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
SignalTimeDependent< unsigned int, int > dimensionSOUT
Returns the dimension of the feature as an output signal.
Definition: feature-abstract.hh:195
unsigned int getDimension(int time)
Short method.
Definition: feature-abstract.hh:110
void unsetReference(void)
Definition: feature-abstract.hh:236
virtual bool isReferenceSet(void) const
Definition: feature-abstract.hh:216
#define SOT_CORE_EXPORT
Definition: api.hh:20
SignalTimeDependent< dynamicgraph::Matrix, int > jacobianSOUT
Jacobian of the error wrt the robot state: .
Definition: feature-abstract.hh:192
unsigned int getDimension(void) const
Shortest method.
Definition: feature-abstract.hh:120
virtual ~FeatureAbstract(void)
Default destructor.
Definition: feature-abstract.hh:92
SignalPtr< dynamicgraph::Vector, int > errordotSIN
Derivative of the reference value.
Definition: feature-abstract.hh:175
static const std::string CLASS_NAME
Store the name of the class.
Definition: feature-abstract.hh:78
void setReference(FeatureAbstract *sdes)
Definition: feature-abstract.hh:243
virtual const std::string & getClassName(void) const
Returns the name class.
Definition: feature-abstract.hh:81
const FeatureSpecialized * getReference(void) const
Definition: feature-abstract.hh:239
virtual SignalTimeDependent< dynamicgraph::Vector, int > & getErrorDot()
Definition: feature-abstract.hh:201
virtual void unsetReference(void)
Definition: feature-abstract.hh:213
This class gives the abstract definition of a feature.
Definition: feature-abstract.hh:75
bool isReferenceSet(void) const
Definition: feature-abstract.hh:237
FeatureSpecialized * getReference(void)
Definition: feature-abstract.hh:238
SignalTimeDependent< dynamicgraph::Vector, int > errorSOUT
This signal returns the error between the desired value and the current value : . ...
Definition: feature-abstract.hh:184
FeatureReferenceHelper(void)
Definition: feature-abstract.hh:232
Definition: abstract-sot-external-interface.hh:17