sot-core
4.11.6
Hierarchical task solver plug-in for dynamic-graph.
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10 #ifndef __SOT_FEATURE_VECTOR3_HH__
11 #define __SOT_FEATURE_VECTOR3_HH__
27 #if defined(feature_vector3_EXPORTS)
28 #define SOTFEATUREVECTOR3_EXPORT __declspec(dllexport)
30 #define SOTFEATUREVECTOR3_EXPORT __declspec(dllimport)
33 #define SOTFEATUREVECTOR3_EXPORT
51 virtual const std::string &
getClassName(
void)
const {
return CLASS_NAME; }
58 dynamicgraph::SignalPtr<dynamicgraph::Vector, int>
vectorSIN;
71 virtual unsigned int &getDimension(
unsigned int &dim,
int time);
73 virtual dynamicgraph::Vector &computeError(dynamicgraph::Vector &res,
75 virtual dynamicgraph::Matrix &computeJacobian(dynamicgraph::Matrix &res,
78 virtual void display(std::ostream &os)
const;
84 #endif // #ifndef __SOT_FEATURE_VECTOR3_HH__
Class that defines point-3d control feature.
Definition: feature-vector3.hh:47
SignalTimeDependent< dynamicgraph::Matrix, int > jacobianSOUT
Jacobian of the error wrt the robot state: .
Definition: feature-abstract.hh:192
virtual const std::string & getClassName(void) const
Returns the name class.
Definition: feature-vector3.hh:51
SignalTimeDependent< dynamicgraph::Vector, int > errorSOUT
This signal returns the error between the desired value and the current value : .
Definition: feature-abstract.hh:184
static const std::string CLASS_NAME
Definition: feature-vector3.hh:50
dynamicgraph::SignalPtr< dynamicgraph::Matrix, int > articularJacobianSIN
Definition: feature-vector3.hh:60
Definition: abstract-sot-external-interface.hh:17
dynamicgraph::SignalPtr< dynamicgraph::Vector, int > positionRefSIN
Definition: feature-vector3.hh:61
This class gives the abstract definition of a feature.
Definition: feature-abstract.hh:75
virtual ~FeatureVector3(void)
Definition: feature-vector3.hh:69
dynamicgraph::SignalPtr< dynamicgraph::Vector, int > vectorSIN
Definition: feature-vector3.hh:58
dynamicgraph::SignalPtr< MatrixHomogeneous, int > positionSIN
Definition: feature-vector3.hh:59
#define SOTFEATUREVECTOR3_EXPORT
Definition: feature-vector3.hh:33
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
DECLARE_NO_REFERENCE
Definition: feature-vector3.hh:53