sot-core
4.11.6
Hierarchical task solver plug-in for dynamic-graph.
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10 #ifndef __SOT_OP_POINT_MODIFIOR_H__
11 #define __SOT_OP_POINT_MODIFIOR_H__
13 #include <dynamic-graph/all-signals.h>
14 #include <dynamic-graph/entity.h>
19 #include <dynamic-graph/linear-algebra.h>
26 #if defined(op_point_modifier_EXPORTS)
27 #define SOTOPPOINTMODIFIER_EXPORT __declspec(dllexport)
29 #define SOTOPPOINTMODIFIER_EXPORT __declspec(dllimport)
32 #define SOTOPPOINTMODIFIER_EXPORT
51 virtual const std::string &
getClassName(
void)
const {
return CLASS_NAME; }
54 dynamicgraph::SignalPtr<dynamicgraph::Matrix, int>
jacobianSIN;
57 dynamicgraph::SignalTimeDependent<dynamicgraph::Matrix, int>
jacobianSOUT;
58 dynamicgraph::SignalTimeDependent<MatrixHomogeneous, int>
positionSOUT;
64 dynamicgraph::Matrix &jacobianSOUT_function(dynamicgraph::Matrix &res,
68 void setTransformation(
const Eigen::Matrix4d &tr);
69 void setTransformationBySignalName(std::istringstream &cmdArgs);
70 const Eigen::Matrix4d &getTransformation(
void);
85 #endif // __SOT_OP_POINT_MODIFIOR_H__
Eigen::Transform< double, 3, Eigen::Affine > SOT_CORE_EXPORT MatrixHomogeneous
Definition: matrix-geometry.hh:74
Compute position and jacobian of a local frame attached to a joint.
Definition: op-point-modifier.hh:48
virtual ~OpPointModifier(void)
Definition: op-point-modifier.hh:62
Definition: abstract-sot-external-interface.hh:17
virtual const std::string & getClassName(void) const
Definition: op-point-modifier.hh:51
dynamicgraph::SignalPtr< dynamicgraph::Matrix, int > jacobianSIN
Definition: op-point-modifier.hh:54
static const std::string CLASS_NAME
Definition: op-point-modifier.hh:50
#define SOTOPPOINTMODIFIER_EXPORT
Definition: op-point-modifier.hh:32
dynamicgraph::SignalPtr< MatrixHomogeneous, int > positionSIN
Definition: op-point-modifier.hh:55
dynamicgraph::SignalTimeDependent< dynamicgraph::Matrix, int > jacobianSOUT
Definition: op-point-modifier.hh:57
dynamicgraph::SignalTimeDependent< MatrixHomogeneous, int > positionSOUT
Definition: op-point-modifier.hh:58