dynamicgraph::sot::FeatureJointLimits Class Reference

Class that defines gradient vector for jl avoidance. More...

#include <sot/core/feature-joint-limits.hh>

Inheritance diagram for dynamicgraph::sot::FeatureJointLimits:

List of all members.

Public Member Functions
virtual const std::string &	getClassName (void) const
	Returns the name class.
	FeatureJointLimits (const std::string &name)
virtual	~FeatureJointLimits (void)
virtual unsigned int &	getDimension (unsigned int &dim, int time)
	Verbose method.
virtual ml::Vector &	computeError (ml::Vector &res, int time)
	Compute the error between the desired feature and the current value of the feature measured or deduced from the robot state.
virtual ml::Matrix &	computeJacobian (ml::Matrix &res, int time)
	Compute the Jacobian of the error according the robot state.
ml::Vector &	computeWidthJl (ml::Vector &res, const int &time)
virtual void	display (std::ostream &os) const
void	commandLine (const std::string &cmdLine, std::istringstream &cmdArgs, std::ostream &os)
Dealing with the reference value to be reach with this feature.
	DECLARE_REFERENCE_FUNCTIONS (FeatureJointLimits)
Static Public Member Functions
static Flags	selectActuated (void)
	Static Feature selection.
Public Attributes
dg::SignalPtr< ml::Vector, int >	jointSIN
dg::SignalPtr< ml::Vector, int >	upperJlSIN
dg::SignalPtr< ml::Vector, int >	lowerJlSIN
dg::SignalTimeDependent < ml::Vector, int >	widthJlSINTERN
Static Public Attributes
static const std::string	CLASS_NAME
	Store the name of the class.
Protected Attributes
double	threshold
Static Protected Attributes
static const double	THRESHOLD_DEFAULT

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Detailed Description

Class that defines gradient vector for jl avoidance.

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Constructor & Destructor Documentation

dynamicgraph::sot::FeatureJointLimits::FeatureJointLimits

(

const std::string &

name

)

virtual dynamicgraph::sot::FeatureJointLimits::~FeatureJointLimits

(

void

)

[inline, virtual]

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Member Function Documentation

void dynamicgraph::sot::FeatureJointLimits::commandLine	(	const std::string &	cmdLine,
		std::istringstream &	cmdArgs,
		std::ostream &	os
	)		[virtual]

Reimplemented from dynamicgraph::Entity.

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

Compute the error between the desired feature and the current value of the feature measured or deduced from the robot state.

[out] res: The error will be set into res.

[in] time: The time at which the error is computed.

Returns:

The vector res with the appropriate value.

Implements dynamicgraph::sot::FeatureAbstract.

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

Compute the Jacobian of the error according the robot state.

[out] res: The matrix in which the error will be written.

Returns:

The matrix res with the appropriate values.

Implements dynamicgraph::sot::FeatureAbstract.

ml::Vector& dynamicgraph::sot::FeatureJointLimits::computeWidthJl	(	ml::Vector &	res,
		const int &	time
	)

dynamicgraph::sot::FeatureJointLimits::DECLARE_REFERENCE_FUNCTIONS

(

FeatureJointLimits

)

virtual void dynamicgraph::sot::FeatureJointLimits::display

(

std::ostream &

os

)

const [virtual]

Reimplemented from dynamicgraph::Entity.

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

(

void

)

const [inline, virtual]

Returns the name class.

Reimplemented from dynamicgraph::sot::FeatureAbstract.

virtual unsigned int& dynamicgraph::sot::FeatureJointLimits::getDimension	(	unsigned int &	res,
		int	time
	)		[virtual]

Verbose method.

res: The integer in which the dimension will be return.

time: The time at which the feature should be considered.

Returns:

Dimension of the feature.

Note:

Be careful with features changing their dimension according to time.

Implements dynamicgraph::sot::FeatureAbstract.

static Flags dynamicgraph::sot::FeatureJointLimits::selectActuated

(

void

)

[inline, static]

Static Feature selection.

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Member Data Documentation

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

Store the name of the class.

Reimplemented from dynamicgraph::sot::FeatureAbstract.

dg::SignalPtr< ml::Vector,int > dynamicgraph::sot::FeatureJointLimits::jointSIN

dg::SignalPtr< ml::Vector,int > dynamicgraph::sot::FeatureJointLimits::lowerJlSIN

double dynamicgraph::sot::FeatureJointLimits::threshold [protected]

const double dynamicgraph::sot::FeatureJointLimits::THRESHOLD_DEFAULT [static, protected]

dg::SignalPtr< ml::Vector,int > dynamicgraph::sot::FeatureJointLimits::upperJlSIN

dg::SignalTimeDependent< ml::Vector,int > dynamicgraph::sot::FeatureJointLimits::widthJlSINTERN