Class that defines 2D visualPoint visual feature. More...
#include <sot/core/feature-visual-point.hh>
Public Member Functions | |
virtual const std::string & | getClassName (void) const |
Returns the name class. | |
DECLARE_REFERENCE_FUNCTIONS (FeatureVisualPoint) | |
FeatureVisualPoint (const std::string &name) | |
virtual | ~FeatureVisualPoint (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 |
Static Public Member Functions | |
static Flags | selectX (void) |
Static Feature selection. | |
static Flags | selectY (void) |
Public Attributes | |
dg::SignalPtr< ml::Vector, int > | xySIN |
dg::SignalPtr< double, int > | ZSIN |
FeatureVisualPoint depth (required to compute the interaction matrix) default Z = 1m. | |
dg::SignalPtr< ml::Matrix, int > | articularJacobianSIN |
Static Public Attributes | |
static const std::string | CLASS_NAME |
Store the name of the class. | |
Protected Attributes | |
ml::Matrix | L |
Class that defines 2D visualPoint visual feature.
dynamicgraph::sot::FeatureVisualPoint::FeatureVisualPoint | ( | const std::string & | name | ) |
virtual dynamicgraph::sot::FeatureVisualPoint::~FeatureVisualPoint | ( | void | ) | [inline, virtual] |
virtual ml::Vector& dynamicgraph::sot::FeatureVisualPoint::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.
Implements dynamicgraph::sot::FeatureAbstract.
virtual ml::Matrix& dynamicgraph::sot::FeatureVisualPoint::computeJacobian | ( | ml::Matrix & | res, |
int | time | ||
) | [virtual] |
Compute the Jacobian of the error according the robot state.
Implements dynamicgraph::sot::FeatureAbstract.
virtual void dynamicgraph::sot::FeatureVisualPoint::display | ( | std::ostream & | os | ) | const [virtual] |
Reimplemented from dynamicgraph::Entity.
virtual const std::string& dynamicgraph::sot::FeatureVisualPoint::getClassName | ( | void | ) | const [inline, virtual] |
Returns the name class.
Reimplemented from dynamicgraph::sot::FeatureAbstract.
virtual unsigned int& dynamicgraph::sot::FeatureVisualPoint::getDimension | ( | unsigned int & | res, |
int | time | ||
) | [virtual] |
Verbose method.
Implements dynamicgraph::sot::FeatureAbstract.
static Flags dynamicgraph::sot::FeatureVisualPoint::selectX | ( | void | ) | [inline, static] |
Static Feature selection.
References dynamicgraph::sot::FLAG_LINE_1.
static Flags dynamicgraph::sot::FeatureVisualPoint::selectY | ( | void | ) | [inline, static] |
References dynamicgraph::sot::FLAG_LINE_2.
const std::string dynamicgraph::sot::FeatureVisualPoint::CLASS_NAME [static] |
Store the name of the class.
Reimplemented from dynamicgraph::sot::FeatureAbstract.
ml::Matrix dynamicgraph::sot::FeatureVisualPoint::L [protected] |
dg::SignalPtr< double,int > dynamicgraph::sot::FeatureVisualPoint::ZSIN |
FeatureVisualPoint depth (required to compute the interaction matrix) default Z = 1m.