dynamicgraph::sot::Feature1D Class Reference

Simple test: the task is defined to be e_2 = .5 . e'.e, with e the mother task. The jacobian is then J_2 = e'.J, J being the jacobian of the mother task. More...

#include <sot/core/feature-1d.hh>

Inheritance diagram for dynamicgraph::sot::Feature1D:

List of all members.

Public Member Functions
virtual const std::string &	getClassName (void) const
virtual void	display (std::ostream &os) const
	Display the information related to this 1D implementation.
Output signals
	Feature1D (const std::string &name)
	Default constructor.
virtual	~Feature1D (void)
	Default destructor.
virtual unsigned int &	getDimension (unsigned int &dim, int time)
	Get the dimension of the feature.
Methods to trigger computation related to this feature.
virtual ml::Vector &	computeError (ml::Vector &res, int time)
	Compute the error between the desired value and the value itself.
virtual ml::Matrix &	computeJacobian (ml::Matrix &res, int time)
	Compute the Jacobian of the value according to the robot state..
Dealing with the reference value to be reach with this feature.
	DECLARE_REFERENCE_FUNCTIONS (Feature1D)
Public Attributes
Input signals
dg::SignalPtr< ml::Vector, int >	errorSIN
	Input for the error.
dg::SignalPtr< ml::Matrix, int >	jacobianSIN
	Input for the Jacobian.
Static Public Attributes
static const std::string	CLASS_NAME

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Detailed Description

Simple test: the task is defined to be e_2 = .5 . e'.e, with e the mother task. The jacobian is then J_2 = e'.J, J being the jacobian of the mother task.

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Constructor & Destructor Documentation

dynamicgraph::sot::Feature1D::Feature1D

(

const std::string &

name

)

Default constructor.

virtual dynamicgraph::sot::Feature1D::~Feature1D

(

void

)

[inline, virtual]

Default destructor.

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Member Function Documentation

virtual ml::Vector& dynamicgraph::sot::Feature1D::computeError	(	ml::Vector &	res,
		int	time
	)		[virtual]

Compute the error between the desired value and the value itself.

Implements dynamicgraph::sot::FeatureAbstract.

virtual ml::Matrix& dynamicgraph::sot::Feature1D::computeJacobian	(	ml::Matrix &	res,
		int	time
	)		[virtual]

Compute the Jacobian of the value according to the robot state..

Implements dynamicgraph::sot::FeatureAbstract.

dynamicgraph::sot::Feature1D::DECLARE_REFERENCE_FUNCTIONS

(

Feature1D

)

virtual void dynamicgraph::sot::Feature1D::display

(

std::ostream &

os

)

const [virtual]

Display the information related to this 1D implementation.

Reimplemented from dynamicgraph::Entity.

virtual const std::string& dynamicgraph::sot::Feature1D::getClassName

(

void

)

const [inline, virtual]

Returns the name of the class.

Reimplemented from dynamicgraph::sot::FeatureAbstract.

virtual unsigned int& dynamicgraph::sot::Feature1D::getDimension	(	unsigned int &	dim,
		int	time
	)		[virtual]

Get the dimension of the feature.

Implements dynamicgraph::sot::FeatureAbstract.

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Member Data Documentation

const std::string dynamicgraph::sot::Feature1D::CLASS_NAME [static]

Field storing the class name.

Reimplemented from dynamicgraph::sot::FeatureAbstract.

dg::SignalPtr< ml::Vector,int > dynamicgraph::sot::Feature1D::errorSIN

Input for the error.

dg::SignalPtr< ml::Matrix,int > dynamicgraph::sot::Feature1D::jacobianSIN

Input for the Jacobian.