10 #ifndef __SOT_FEATURE_POINT6DRELATIVE_HH__ 11 #define __SOT_FEATURE_POINT6DRELATIVE_HH__ 28 #if defined(feature_point6d_relative_EXPORTS) 29 #define SOTFEATUREPOINT6DRELATIVE_EXPORT __declspec(dllexport) 31 #define SOTFEATUREPOINT6DRELATIVE_EXPORT __declspec(dllimport) 34 #define SOTFEATUREPOINT6DRELATIVE_EXPORT 53 static const std::string CLASS_NAME;
54 virtual const std::string &getClassName(
void)
const {
return CLASS_NAME; }
57 dynamicgraph::Matrix L;
61 dynamicgraph::SignalPtr<MatrixHomogeneous, int> positionReferenceSIN;
62 dynamicgraph::SignalPtr<dynamicgraph::Matrix, int>
63 articularJacobianReferenceSIN;
72 dynamicgraph::SignalPtr<MatrixHomogeneous, int> dotpositionSIN;
74 dynamicgraph::SignalPtr<MatrixHomogeneous, int> dotpositionReferenceSIN;
77 using FeaturePoint6d::getReference;
83 virtual dynamicgraph::Vector &computeError(dynamicgraph::Vector & res,
85 virtual dynamicgraph::Vector &computeErrorDot(dynamicgraph::Vector & res,
87 virtual dynamicgraph::Matrix &computeJacobian(dynamicgraph::Matrix & res,
90 virtual void display(std::ostream & os)
const;
92 void initCommands(
void);
93 void initSdes(
const std::string &featureDesiredName);
99 #endif // #ifndef __SOT_FEATURE_POINT6DRELATIVE_HH__ Definition: feature-point6d-relative.hh:50
#define SOTFEATUREPOINT6DRELATIVE_EXPORT
Definition: feature-point6d-relative.hh:34
Class that defines the motion of a point of the body wrt. another point.
Class that defines point-6d control feature.
Definition: abstract-sot-external-interface.hh:17