10 #ifndef __SOT_FEATURE_JOINTLIMITS_HH__ 11 #define __SOT_FEATURE_JOINTLIMITS_HH__ 26 #if defined(feature_joint_limits_EXPORTS) 27 #define SOTFEATUREJOINTLIMITS_EXPORT __declspec(dllexport) 29 #define SOTFEATUREJOINTLIMITS_EXPORT __declspec(dllimport) 32 #define SOTFEATUREJOINTLIMITS_EXPORT 52 virtual const std::string &
getClassName(
void)
const {
return CLASS_NAME; }
64 dynamicgraph::SignalPtr<dynamicgraph::Vector, int>
jointSIN;
65 dynamicgraph::SignalPtr<dynamicgraph::Vector, int>
upperJlSIN;
66 dynamicgraph::SignalPtr<dynamicgraph::Vector, int>
lowerJlSIN;
84 virtual unsigned int &getDimension(
unsigned int &dim,
int time);
86 virtual dynamicgraph::Vector &computeError(dynamicgraph::Vector &res,
88 virtual dynamicgraph::Matrix &computeJacobian(dynamicgraph::Matrix &res,
90 dynamicgraph::Vector &computeWidthJl(dynamicgraph::Vector &res,
94 inline static Flags selectActuated(
void);
96 virtual void display(std::ostream &os)
const;
102 #endif // #ifndef __SOT_FEATURE_JOINTLIMITS_HH__ static const std::string CLASS_NAME
Definition: feature-joint-limits.hh:51
virtual const std::string & getClassName(void) const
Returns the name class.
Definition: feature-joint-limits.hh:52
dynamicgraph::SignalTimeDependent< dynamicgraph::Vector, int > widthJlSINTERN
Definition: feature-joint-limits.hh:67
virtual ~FeatureJointLimits(void)
Definition: feature-joint-limits.hh:82
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
static const double THRESHOLD_DEFAULT
Definition: feature-joint-limits.hh:56
SignalTimeDependent< dynamicgraph::Matrix, int > jacobianSOUT
Jacobian of the error wrt the robot state: .
Definition: feature-abstract.hh:192
dynamicgraph::SignalPtr< dynamicgraph::Vector, int > lowerJlSIN
Definition: feature-joint-limits.hh:66
dynamicgraph::SignalPtr< dynamicgraph::Vector, int > upperJlSIN
Definition: feature-joint-limits.hh:65
Class that defines gradient vector for jl avoidance.
Definition: feature-joint-limits.hh:46
This class gives the abstract definition of a feature.
Definition: feature-abstract.hh:75
double threshold
Definition: feature-joint-limits.hh:55
#define SOTFEATUREJOINTLIMITS_EXPORT
Definition: feature-joint-limits.hh:32
#define DECLARE_REFERENCE_FUNCTIONS(FeatureSpecialized)
Definition: feature-abstract.hh:249
dynamicgraph::SignalPtr< dynamicgraph::Vector, int > jointSIN
Definition: feature-joint-limits.hh:64
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