dynamicgraph::sot::FeatureVector3 Class Reference

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

#include <sot/core/feature-vector3.hh>

Inheritance diagram for dynamicgraph::sot::FeatureVector3:

List of all members.

Public Member Functions
virtual const std::string &	getClassName (void) const
	Returns the name class.
	FeatureVector3 (const std::string &name)
virtual	~FeatureVector3 (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.
virtual void	display (std::ostream &os) const
virtual void	commandLine (const std::string &cmdLine, std::istringstream &cmdArgs, std::ostream &os)
Public Attributes
	DECLARE_NO_REFERENCE
dg::SignalPtr< ml::Vector, int >	vectorSIN
dg::SignalPtr < MatrixHomogeneous, int >	positionSIN
dg::SignalPtr< ml::Matrix, int >	articularJacobianSIN
dg::SignalPtr< ml::Vector, int >	positionRefSIN
Static Public Attributes
static const std::string	CLASS_NAME
	Store the name of the class.

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Detailed Description

Class that defines point-3d control feature.

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Constructor & Destructor Documentation

dynamicgraph::sot::FeatureVector3::FeatureVector3

(

const std::string &

name

)

virtual dynamicgraph::sot::FeatureVector3::~FeatureVector3

(

void

)

[inline, virtual]

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Member Function Documentation

virtual void dynamicgraph::sot::FeatureVector3::commandLine	(	const std::string &	cmdLine,
		std::istringstream &	cmdArgs,
		std::ostream &	os
	)		[virtual]

Reimplemented from dynamicgraph::Entity.

virtual ml::Vector& dynamicgraph::sot::FeatureVector3::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::FeatureVector3::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.

virtual void dynamicgraph::sot::FeatureVector3::display

(

std::ostream &

os

)

const [virtual]

Reimplemented from dynamicgraph::Entity.

virtual const std::string& dynamicgraph::sot::FeatureVector3::getClassName

(

void

)

const [inline, virtual]

Returns the name class.

Reimplemented from dynamicgraph::sot::FeatureAbstract.

virtual unsigned int& dynamicgraph::sot::FeatureVector3::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.

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Member Data Documentation

dg::SignalPtr< ml::Matrix,int > dynamicgraph::sot::FeatureVector3::articularJacobianSIN

const std::string dynamicgraph::sot::FeatureVector3::CLASS_NAME [static]

Store the name of the class.

Reimplemented from dynamicgraph::sot::FeatureAbstract.

dynamicgraph::sot::FeatureVector3::DECLARE_NO_REFERENCE

dg::SignalPtr< ml::Vector,int > dynamicgraph::sot::FeatureVector3::positionRefSIN

dg::SignalPtr< MatrixHomogeneous,int > dynamicgraph::sot::FeatureVector3::positionSIN

dg::SignalPtr< ml::Vector,int > dynamicgraph::sot::FeatureVector3::vectorSIN