sot-core
4.11.6
Hierarchical task solver plug-in for dynamic-graph.
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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
55 virtual const std::string &
getClassName(
void)
const {
return CLASS_NAME; }
58 dynamicgraph::Matrix
L;
63 dynamicgraph::SignalPtr<dynamicgraph::Matrix, int>
84 virtual dynamicgraph::Vector &computeError(dynamicgraph::Vector &res,
86 virtual dynamicgraph::Vector &computeErrorDot(dynamicgraph::Vector &res,
88 virtual dynamicgraph::Matrix &computeJacobian(dynamicgraph::Matrix &res,
91 virtual void display(std::ostream &os)
const;
93 void initCommands(
void);
94 void initSdes(
const std::string &featureDesiredName);
100 #endif // #ifndef __SOT_FEATURE_POINT6DRELATIVE_HH__
Definition: abstract-sot-external-interface.hh:17
FeaturePoint6d * getReference(void)
Definition: feature-abstract.hh:238
dynamicgraph::SignalPtr< dynamicgraph::Matrix, int > articularJacobianReferenceSIN
Definition: feature-point6d-relative.hh:64
virtual ~FeaturePoint6dRelative(void)
Definition: feature-point6d-relative.hh:82
virtual const std::string & getClassName(void) const
Returns the name class.
Definition: feature-point6d-relative.hh:55
#define SOTFEATUREPOINT6DRELATIVE_EXPORT
Definition: feature-point6d-relative.hh:34
dynamicgraph::Matrix L
Definition: feature-point6d-relative.hh:58
dynamicgraph::SignalPtr< MatrixHomogeneous, int > positionReferenceSIN
Definition: feature-point6d-relative.hh:62
dynamicgraph::SignalPtr< MatrixHomogeneous, int > dotpositionReferenceSIN
Definition: feature-point6d-relative.hh:75
Class that defines the motion of a point of the body wrt. another point.
Definition: feature-point6d-relative.hh:50
dynamicgraph::SignalPtr< MatrixHomogeneous, int > dotpositionSIN
Definition: feature-point6d-relative.hh:73
static const std::string CLASS_NAME
Definition: feature-point6d-relative.hh:54
Class that defines point-6d control feature.
Definition: feature-point6d.hh:49