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:
dynamicgraph::sot::FeatureAbstract dynamicgraph::sot::FeatureReferenceHelper< FeatureJointLimits > dynamicgraph::Entity noncopyable

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::VectorcomputeError (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::MatrixcomputeJacobian (ml::Matrix &res, int time)
 Compute the Jacobian of the error according the robot state.
ml::VectorcomputeWidthJl (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

Detailed Description

Class that defines gradient vector for jl avoidance.


Constructor & Destructor Documentation

virtual dynamicgraph::sot::FeatureJointLimits::~FeatureJointLimits ( void  ) [inline, virtual]

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.

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.

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 Feature selection.


Member Data Documentation

Store the name of the class.

Reimplemented from dynamicgraph::sot::FeatureAbstract.

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