dynamicgraph::sot::FeaturePoint6dRelative Class Reference

Class that defines the motion of a point of the body wrt. another point. More...

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

Inheritance diagram for dynamicgraph::sot::FeaturePoint6dRelative:

List of all members.

Public Member Functions
virtual const std::string &	getClassName (void) const
	Returns the name class.
	FeaturePoint6dRelative (const std::string &name)
virtual	~FeaturePoint6dRelative (void)
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)
	Callback for signal errordotSOUT.
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	initCommands (void)
void	initSdes (const std::string &featureDesiredName)
Public Attributes
dg::SignalPtr < MatrixHomogeneous, int >	positionReferenceSIN
dg::SignalPtr< ml::Matrix, int >	articularJacobianReferenceSIN
dg::SignalPtr < MatrixHomogeneous, int >	dotpositionSIN
dg::SignalPtr < MatrixHomogeneous, int >	dotpositionReferenceSIN
Static Public Attributes
static const std::string	CLASS_NAME
	Store the name of the class.
Protected Attributes
ml::Matrix	L

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Detailed Description

Class that defines the motion of a point of the body wrt. another point.

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Constructor & Destructor Documentation

dynamicgraph::sot::FeaturePoint6dRelative::FeaturePoint6dRelative

(

const std::string &

name

)

virtual dynamicgraph::sot::FeaturePoint6dRelative::~FeaturePoint6dRelative

(

void

)

[inline, virtual]

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Member Function Documentation

virtual void dynamicgraph::sot::FeaturePoint6dRelative::commandLine	(	const std::string &	cmdLine,
		std::istringstream &	cmdArgs,
		std::ostream &	os
	)		[virtual]

Reimplemented from dynamicgraph::sot::FeaturePoint6d.

virtual ml::Vector& dynamicgraph::sot::FeaturePoint6dRelative::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.

Reimplemented from dynamicgraph::sot::FeaturePoint6d.

virtual ml::Vector& dynamicgraph::sot::FeaturePoint6dRelative::computeErrorDot	(	ml::Vector &	res,
		int	time
	)		[virtual]

Callback for signal errordotSOUT.

Copy components of the input signal errordotSIN defined by selection flag selectionSIN.

Reimplemented from dynamicgraph::sot::FeatureAbstract.

virtual ml::Matrix& dynamicgraph::sot::FeaturePoint6dRelative::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.

Reimplemented from dynamicgraph::sot::FeaturePoint6d.

virtual void dynamicgraph::sot::FeaturePoint6dRelative::display

(

std::ostream &

os

)

const [virtual]

Reimplemented from dynamicgraph::sot::FeaturePoint6d.

virtual const std::string& dynamicgraph::sot::FeaturePoint6dRelative::getClassName

(

void

)

const [inline, virtual]

Returns the name class.

Reimplemented from dynamicgraph::sot::FeaturePoint6d.

void dynamicgraph::sot::FeaturePoint6dRelative::initCommands

(

void

)

Reimplemented from dynamicgraph::sot::FeatureAbstract.

void dynamicgraph::sot::FeaturePoint6dRelative::initSdes

(

const std::string &

featureDesiredName

)

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Member Data Documentation

dg::SignalPtr< ml::Matrix,int > dynamicgraph::sot::FeaturePoint6dRelative::articularJacobianReferenceSIN

const std::string dynamicgraph::sot::FeaturePoint6dRelative::CLASS_NAME [static]

Store the name of the class.

Reimplemented from dynamicgraph::sot::FeaturePoint6d.

dg::SignalPtr< MatrixHomogeneous,int > dynamicgraph::sot::FeaturePoint6dRelative::dotpositionReferenceSIN

Derivative of the reference position.

dg::SignalPtr< MatrixHomogeneous,int > dynamicgraph::sot::FeaturePoint6dRelative::dotpositionSIN

dg::Signals related to the computation of the derivative of the error

dg::Signals giving the derivative of the input signals.

Derivative of the relative position.

ml::Matrix dynamicgraph::sot::FeaturePoint6dRelative::L [protected]

dg::SignalPtr< MatrixHomogeneous,int > dynamicgraph::sot::FeaturePoint6dRelative::positionReferenceSIN