dynamicgraph::sot::FeatureLineDistance Class Reference

Class that defines point-3d control feature. More...

#include <sot/core/feature-line-distance.hh>

Inheritance diagram for dynamicgraph::sot::FeatureLineDistance:

List of all members.

Public Member Functions
virtual const std::string &	getClassName (void) const
	Returns the name class.
	FeatureLineDistance (const std::string &name)
virtual	~FeatureLineDistance (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 &	computeLineCoordinates (ml::Vector &cood, int time)
virtual void	display (std::ostream &os) const
virtual void	commandLine (const std::string &cmdLine, std::istringstream &cmdArgs, std::ostream &os)
Public Attributes
dg::SignalPtr < MatrixHomogeneous, int >	positionSIN
dg::SignalPtr< ml::Matrix, int >	articularJacobianSIN
dg::SignalPtr< ml::Vector, int >	positionRefSIN
dg::SignalPtr< ml::Vector, int >	vectorSIN
dg::SignalTimeDependent < ml::Vector, int >	lineSOUT
Dealing with the reference value to be reach with this feature.
	DECLARE_NO_REFERENCE
Static Public Attributes
static const std::string	CLASS_NAME
	Store the name of the class.

---

Detailed Description

Class that defines point-3d control feature.

---

Constructor & Destructor Documentation

dynamicgraph::sot::FeatureLineDistance::FeatureLineDistance

(

const std::string &

name

)

virtual dynamicgraph::sot::FeatureLineDistance::~FeatureLineDistance

(

void

)

[inline, virtual]

---

Member Function Documentation

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

Reimplemented from dynamicgraph::Entity.

virtual ml::Vector& dynamicgraph::sot::FeatureLineDistance::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::FeatureLineDistance::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::FeatureLineDistance::computeLineCoordinates	(	ml::Vector &	cood,
		int	time
	)

virtual void dynamicgraph::sot::FeatureLineDistance::display

(

std::ostream &

os

)

const [virtual]

Reimplemented from dynamicgraph::Entity.

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

(

void

)

const [inline, virtual]

Returns the name class.

Reimplemented from dynamicgraph::sot::FeatureAbstract.

virtual unsigned int& dynamicgraph::sot::FeatureLineDistance::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.

---

Member Data Documentation

dg::SignalPtr< ml::Matrix,int > dynamicgraph::sot::FeatureLineDistance::articularJacobianSIN

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

Store the name of the class.

Reimplemented from dynamicgraph::sot::FeatureAbstract.

dynamicgraph::sot::FeatureLineDistance::DECLARE_NO_REFERENCE

dg::SignalTimeDependent<ml::Vector,int> dynamicgraph::sot::FeatureLineDistance::lineSOUT

dg::SignalPtr< ml::Vector,int > dynamicgraph::sot::FeatureLineDistance::positionRefSIN

dg::SignalPtr< MatrixHomogeneous,int > dynamicgraph::sot::FeatureLineDistance::positionSIN

dg::SignalPtr< ml::Vector,int > dynamicgraph::sot::FeatureLineDistance::vectorSIN