dynamicgraph::sot::FeaturePoint6d Class Reference

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

#include <sot/core/feature-point6d.hh>

Inheritance diagram for dynamicgraph::sot::FeaturePoint6d:

List of all members.

Public Member Functions
virtual const std::string &	getClassName (void) const
	Returns the name class.
void	computationFrame (const std::string &inFrame)
	Set computation frame.
std::string	computationFrame () const
	Get computation frame.
	FeaturePoint6d (const std::string &name)
virtual	~FeaturePoint6d (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::Vector &	computeErrordot (ml::Vector &res, int time)
virtual ml::Matrix &	computeJacobian (ml::Matrix &res, int time)
	Compute the Jacobian of the error according the robot state.
virtual void	display (std::ostream &os) const
virtual void	commandLine (const std::string &cmdLine, std::istringstream &cmdArgs, std::ostream &os)
void	servoCurrentPosition (void)
Dealing with the reference value to be reach with this feature.
	DECLARE_REFERENCE_FUNCTIONS (FeaturePoint6d)
Static Public Member Functions
static Flags	selectX (void)
	Static Feature selection.
static Flags	selectY (void)
static Flags	selectZ (void)
static Flags	selectRX (void)
static Flags	selectRY (void)
static Flags	selectRZ (void)
static Flags	selectTranslation (void)
static Flags	selectRotation (void)
Public Attributes
dg::SignalPtr < MatrixHomogeneous, int >	positionSIN
dg::SignalPtr< ml::Vector, int >	velocitySIN
dg::SignalPtr< ml::Matrix, int >	articularJacobianSIN
Static Public Attributes
static const std::string	CLASS_NAME
	Store the name of the class.
Protected Types
enum	ComputationFrameType {   FRAME_DESIRED,   FRAME_CURRENT }
Static Protected Attributes
static const ComputationFrameType	COMPUTATION_FRAME_DEFAULT

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Detailed Description

Class that defines point-3d control feature.

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Member Enumeration Documentation

enum dynamicgraph::sot::FeaturePoint6d::ComputationFrameType [protected]

Enumerator:

FRAME_DESIRED
FRAME_CURRENT

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Constructor & Destructor Documentation

dynamicgraph::sot::FeaturePoint6d::FeaturePoint6d

(

const std::string &

name

)

virtual dynamicgraph::sot::FeaturePoint6d::~FeaturePoint6d

(

void

)

[inline, virtual]

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Member Function Documentation

virtual void dynamicgraph::sot::FeaturePoint6d::commandLine	(	const std::string &	cmdLine,
		std::istringstream &	cmdArgs,
		std::ostream &	os
	)		[virtual]

Reimplemented from dynamicgraph::Entity.

Reimplemented in dynamicgraph::sot::FeaturePoint6dRelative.

void dynamicgraph::sot::FeaturePoint6d::computationFrame

(

const std::string &

inFrame

)

Set computation frame.

std::string dynamicgraph::sot::FeaturePoint6d::computationFrame

(

)

const

Get computation frame.

virtual ml::Vector& dynamicgraph::sot::FeaturePoint6d::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.

Reimplemented in dynamicgraph::sot::FeaturePoint6dRelative.

virtual ml::Vector& dynamicgraph::sot::FeaturePoint6d::computeErrordot	(	ml::Vector &	res,
		int	time
	)		[virtual]

virtual ml::Matrix& dynamicgraph::sot::FeaturePoint6d::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.

Reimplemented in dynamicgraph::sot::FeaturePoint6dRelative.

dynamicgraph::sot::FeaturePoint6d::DECLARE_REFERENCE_FUNCTIONS

(

FeaturePoint6d

)

virtual void dynamicgraph::sot::FeaturePoint6d::display

(

std::ostream &

os

)

const [virtual]

Reimplemented from dynamicgraph::Entity.

Reimplemented in dynamicgraph::sot::FeaturePoint6dRelative.

virtual const std::string& dynamicgraph::sot::FeaturePoint6d::getClassName

(

void

)

const [inline, virtual]

Returns the name class.

Reimplemented from dynamicgraph::sot::FeatureAbstract.

Reimplemented in dynamicgraph::sot::FeaturePoint6dRelative.

virtual unsigned int& dynamicgraph::sot::FeaturePoint6d::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::FeaturePoint6d::selectRotation

(

void

)

[inline, static]

static Flags dynamicgraph::sot::FeaturePoint6d::selectRX

(

void

)

[inline, static]

References dynamicgraph::sot::FLAG_LINE_4.

static Flags dynamicgraph::sot::FeaturePoint6d::selectRY

(

void

)

[inline, static]

References dynamicgraph::sot::FLAG_LINE_5.

static Flags dynamicgraph::sot::FeaturePoint6d::selectRZ

(

void

)

[inline, static]

References dynamicgraph::sot::FLAG_LINE_6.

static Flags dynamicgraph::sot::FeaturePoint6d::selectTranslation

(

void

)

[inline, static]

static Flags dynamicgraph::sot::FeaturePoint6d::selectX

(

void

)

[inline, static]

Static Feature selection.

References dynamicgraph::sot::FLAG_LINE_1.

static Flags dynamicgraph::sot::FeaturePoint6d::selectY

(

void

)

[inline, static]

References dynamicgraph::sot::FLAG_LINE_2.

static Flags dynamicgraph::sot::FeaturePoint6d::selectZ

(

void

)

[inline, static]

References dynamicgraph::sot::FLAG_LINE_3.

void dynamicgraph::sot::FeaturePoint6d::servoCurrentPosition

(

void

)

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Member Data Documentation

dg::SignalPtr< ml::Matrix,int > dynamicgraph::sot::FeaturePoint6d::articularJacobianSIN

const std::string dynamicgraph::sot::FeaturePoint6d::CLASS_NAME [static]

Store the name of the class.

Reimplemented from dynamicgraph::sot::FeatureAbstract.

Reimplemented in dynamicgraph::sot::FeaturePoint6dRelative.

const ComputationFrameType dynamicgraph::sot::FeaturePoint6d::COMPUTATION_FRAME_DEFAULT [static, protected]

dg::SignalPtr< MatrixHomogeneous,int > dynamicgraph::sot::FeaturePoint6d::positionSIN

dg::SignalPtr< ml::Vector, int > dynamicgraph::sot::FeaturePoint6d::velocitySIN