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dynamicgraph::sot::FeatureVisualPoint Class Reference

Class that defines 2D visualPoint visual feature. More...

#include <sot/core/feature-visual-point.hh>

Inheritance diagram for dynamicgraph::sot::FeatureVisualPoint:
[legend]

Public Member Functions

virtual const std::string & getClassName (void) const
 Returns the name class. More...
 
 DECLARE_REFERENCE_FUNCTIONS (FeatureVisualPoint)
 
 FeatureVisualPoint (const std::string &name)
 
virtual ~FeatureVisualPoint (void)
 
virtual unsigned int & getDimension (unsigned int &dim, int time)
 Verbose method. More...
 
virtual dg::VectorcomputeError (dg::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. More...
 
virtual dg::MatrixcomputeJacobian (dg::Matrix &res, int time)
 Compute the Jacobian of the error according the robot state. More...
 
virtual void display (std::ostream &os) const
 
- Public Member Functions inherited from dynamicgraph::sot::FeatureAbstract
void featureRegistration (void)
 Register the feature in the stack of tasks. More...
 
void initCommands (void)
 
 FeatureAbstract (const std::string &name)
 Default constructor: the name of the class should be given. More...
 
virtual ~FeatureAbstract (void)
 Default destructor. More...
 
unsigned int getDimension (int time)
 Short method. More...
 
unsigned int getDimension (void) const
 Shortest method. More...
 
virtual dg::VectorcomputeErrorDot (dg::Vector &res, int time)
 Callback for signal errordotSOUT. More...
 
virtual void setReference (FeatureAbstract *sdes)=0
 
virtual void unsetReference (void)
 
virtual const FeatureAbstractgetReferenceAbstract (void) const =0
 
virtual FeatureAbstractgetReferenceAbstract (void)=0
 
virtual bool isReferenceSet (void) const
 
virtual void addDependenciesFromReference (void)=0
 
virtual void removeDependenciesFromReference (void)=0
 
void setReferenceByName (const std::string &name)
 
std::string getReferenceByName (void) const
 
virtual std::ostream & writeGraph (std::ostream &os) const
 This method write a graph description on the file named FileName. More...
 
virtual SOT_CORE_DEPRECATED bool withErrorDot (void) const
 Return true for children that provide the errordot output signal. More...
 
virtual SignalTimeDependent
< dg::Vector, int > & 
getErrorDot ()
 
- Public Member Functions inherited from dynamicgraph::Entity
 Entity (const std::string &name)
 
virtual ~Entity ()
 
const std::string & getName () const
 
virtual std::string getDocString () const
 
bool hasSignal (const std::string &signame) const
 
SignalBase< int > & getSignal (const std::string &signalName)
 
const SignalBase< int > & getSignal (const std::string &signalName) const
 
std::ostream & displaySignalList (std::ostream &os) const
 
virtual std::ostream & writeCompletionList (std::ostream &os) const
 
virtual void commandLine (const std::string &cmdLine, std::istringstream &cmdArgs, std::ostream &os)
 
virtual SignalBase< int > * test ()
 
virtual void test2 (SignalBase< int > *)
 
const std::string & getCommandList () const
 
CommandMap_t getNewStyleCommandMap ()
 
command::CommandgetNewStyleCommand (const std::string &cmdName)
 
SignalMap getSignalMap () const
 
- Public Member Functions inherited from dynamicgraph::sot::FeatureReferenceHelper< FeatureVisualPoint >
 FeatureReferenceHelper (void)
 
void setReference (FeatureAbstract *sdes)
 
void unsetReference (void)
 
bool isReferenceSet (void) const
 
FeatureVisualPointgetReference (void)
 
const FeatureVisualPointgetReference (void) const
 

Static Public Member Functions

static Flags selectX (void)
 Static Feature selection. More...
 
static Flags selectY (void)
 

Public Attributes

dg::SignalPtr< dg::Vector, int > xySIN
 
dg::SignalPtr< double, int > ZSIN
 FeatureVisualPoint depth (required to compute the interaction matrix) default Z = 1m. More...
 
dg::SignalPtr< dg::Matrix, int > articularJacobianSIN
 
- Public Attributes inherited from dynamicgraph::sot::FeatureAbstract
SignalPtr< Flags, int > selectionSIN
 This vector specifies which dimension are used to perform the computation. For instance let us assume that the feature is a 3D point. If only the Y-axis should be used for computing error, activation and Jacobian, then the vector to specify is $ [ 0 1 0] $. More...
 
SignalPtr< dg::Vector, int > errordotSIN
 Derivative of the reference value. More...
 
SignalTimeDependent
< dg::Vector, int > 
errorSOUT
 This signal returns the error between the desired value and the current value : $ {\bf s}^*(t) - {\bf s}(t)$. More...
 
SignalTimeDependent
< dg::Vector, int > 
errordotSOUT
 Derivative of the reference value. More...
 
SignalTimeDependent
< dg::Matrix, int > 
jacobianSOUT
 This signal returns the Jacobian of the current value according to the robot state: $ J(t) = \frac{\delta{\bf s}^*(t)}{\delta {\bf q}(t)}$. More...
 
SignalTimeDependent< unsigned
int, int > 
dimensionSOUT
 Returns the dimension of the feature as an output signal. More...
 

Static Public Attributes

static const std::string CLASS_NAME
 
- Static Public Attributes inherited from dynamicgraph::sot::FeatureAbstract
static const std::string CLASS_NAME
 Store the name of the class. More...
 

Protected Attributes

dg::Matrix L
 
- Protected Attributes inherited from dynamicgraph::Entity
std::string name
 
SignalMap signalMap
 
CommandMap_t commandMap
 

Additional Inherited Members

- Public Types inherited from dynamicgraph::Entity
typedef std::map< std::string,
SignalBase< int > * > 
SignalMap
 
typedef std::map< const
std::string, command::Command * > 
CommandMap_t
 
- Protected Member Functions inherited from dynamicgraph::Entity
void addCommand (const std::string &name, command::Command *command)
 
void entityRegistration ()
 
void entityDeregistration ()
 
void signalRegistration (const SignalArray< int > &signals)
 
void signalDeregistration (const std::string &name)
 

Detailed Description

Class that defines 2D visualPoint visual feature.

Constructor & Destructor Documentation

dynamicgraph::sot::FeatureVisualPoint::FeatureVisualPoint ( const std::string &  name)
virtual dynamicgraph::sot::FeatureVisualPoint::~FeatureVisualPoint ( void  )
inlinevirtual

Member Function Documentation

virtual dg::Vector& dynamicgraph::sot::FeatureVisualPoint::computeError ( dg::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 dg::Matrix& dynamicgraph::sot::FeatureVisualPoint::computeJacobian ( dg::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.

dynamicgraph::sot::FeatureVisualPoint::DECLARE_REFERENCE_FUNCTIONS ( FeatureVisualPoint  )
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
inlinevirtual

Returns the name class.

Reimplemented from dynamicgraph::sot::FeatureAbstract.

virtual unsigned int& dynamicgraph::sot::FeatureVisualPoint::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::FeatureVisualPoint::selectX ( void  )
inlinestatic

Static Feature selection.

References dynamicgraph::sot::FLAG_LINE_1.

static Flags dynamicgraph::sot::FeatureVisualPoint::selectY ( void  )
inlinestatic

Member Data Documentation

dg::SignalPtr< dg::Matrix,int > dynamicgraph::sot::FeatureVisualPoint::articularJacobianSIN
const std::string dynamicgraph::sot::FeatureVisualPoint::CLASS_NAME
static
dg::Matrix dynamicgraph::sot::FeatureVisualPoint::L
protected
dg::SignalPtr< dg::Vector,int > dynamicgraph::sot::FeatureVisualPoint::xySIN
dg::SignalPtr< double,int > dynamicgraph::sot::FeatureVisualPoint::ZSIN

FeatureVisualPoint depth (required to compute the interaction matrix) default Z = 1m.