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

Inheritance diagram for dynamicgraph::sot::FeaturePosture:

Public Types
typedef dynamicgraph::SignalPtr < ml::Vector, int >	signalIn_t
typedef dynamicgraph::SignalTimeDependent < ml::Vector, int >	signalOut_t
typedef dynamicgraph::SignalPtr < ml::Vector, int >	signalIn_t
typedef dynamicgraph::SignalTimeDependent < ml::Vector, int >	signalOut_t
Public Member Functions
	FeaturePosture (const std::string &name)
virtual	~FeaturePosture ()
virtual const std::string &	getClassName () const
	Returns the name class.
virtual unsigned int &	getDimension (unsigned int &res, int)
	Verbose method.
void	setPosture (const ml::Vector &posture)
void	selectDof (unsigned dofId, bool control)
	FeaturePosture (const std::string &name)
virtual	~FeaturePosture ()
virtual unsigned int &	getDimension (unsigned int &res, int)
	Verbose method.
void	setPosture (const ml::Vector &posture)
void	selectDof (unsigned dofId, bool control)
Public Attributes
	DECLARE_NO_REFERENCE
Static Public Attributes
static const std::string	CLASS_NAME
	Store the name of the class.
Protected Member Functions
virtual ml::Vector &	computeError (ml::Vector &res, int)
	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)
	Compute the Jacobian of the error according the robot state.
virtual ml::Vector &	computeActivation (ml::Vector &res, int)
virtual ml::Vector &	computeError (ml::Vector &res, int)
	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)
	Compute the Jacobian of the error according the robot state.
virtual ml::Vector &	computeActivation (ml::Vector &res, int)
Protected Attributes
signalIn_t	state_
signalOut_t	error_
ml::Vector	posture_
ml::Matrix	jacobian_
signalIn_t	posture_
Friends
class	SelectDof

Member Typedef Documentation

typedef dynamicgraph::SignalPtr<ml::Vector, int> dynamicgraph::sot::FeaturePosture::signalIn_t

typedef dynamicgraph::SignalTimeDependent<ml::Vector, int> dynamicgraph::sot::FeaturePosture::signalOut_t

Constructor & Destructor Documentation

dynamicgraph::sot::FeaturePosture::FeaturePosture ( const std::string & name ) [explicit]

virtual dynamicgraph::sot::FeaturePosture::~FeaturePosture ( ) [virtual]

dynamicgraph::sot::FeaturePosture::FeaturePosture ( const std::string & name ) [explicit]

virtual dynamicgraph::sot::FeaturePosture::~FeaturePosture ( ) [virtual]

Member Function Documentation

virtual ml::Vector& dynamicgraph::sot::FeaturePosture::computeActivation	(	ml::Vector &	res,
		int
	)		`[protected, virtual]`

virtual ml::Vector& dynamicgraph::sot::FeaturePosture::computeActivation	(	ml::Vector &	res,
		int
	)		`[protected, virtual]`

virtual ml::Vector& dynamicgraph::sot::FeaturePosture::computeError	(	ml::Vector &	res,
		int	time
	)		`[protected, 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::Vector& dynamicgraph::sot::FeaturePosture::computeError	(	ml::Vector &	res,
		int	time
	)		`[protected, 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::FeaturePosture::computeJacobian	(	ml::Matrix &	res,
		int	time
	)		`[protected, 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.

virtual ml::Matrix& dynamicgraph::sot::FeaturePosture::computeJacobian	(	ml::Matrix &	res,
		int	time
	)		`[protected, 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.

virtual const std::string& dynamicgraph::sot::FeaturePosture::getClassName ( void ) const [virtual]

Returns the name class.

Reimplemented from dynamicgraph::sot::FeatureAbstract.

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

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

void dynamicgraph::sot::FeaturePosture::selectDof	(	unsigned	dofId,
		bool	control
	)

void dynamicgraph::sot::FeaturePosture::selectDof	(	unsigned	dofId,
		bool	control
	)

void dynamicgraph::sot::FeaturePosture::setPosture ( const ml::Vector & posture )

Friends And Related Function Documentation

SelectDof [friend]

Member Data Documentation

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

Store the name of the class.

Reimplemented from dynamicgraph::sot::FeatureAbstract.

dynamicgraph::sot::FeaturePosture::DECLARE_NO_REFERENCE

signalOut_t dynamicgraph::sot::FeaturePosture::error_ [protected]

ml::Matrix dynamicgraph::sot::FeaturePosture::jacobian_ [protected]

ml::Vector dynamicgraph::sot::FeaturePosture::posture_ [protected]

signalIn_t dynamicgraph::sot::FeaturePosture::posture_ [protected]

signalIn_t dynamicgraph::sot::FeaturePosture::state_ [protected]

Public Types

Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

Protected Attributes

Friends

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation