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. 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::Vector & | computeError (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::Matrix & | computeJacobian (dg::Matrix &res, int time) |
Compute the Jacobian of the error according the robot state. More... | |
virtual void | display (std::ostream &os) const |
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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::Vector & | computeErrorDot (dg::Vector &res, int time) |
Callback for signal errordotSOUT. More... | |
virtual void | setReference (FeatureAbstract *sdes)=0 |
virtual void | unsetReference (void) |
virtual const FeatureAbstract * | getReferenceAbstract (void) const =0 |
virtual FeatureAbstract * | getReferenceAbstract (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 () |
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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::Command * | getNewStyleCommand (const std::string &cmdName) |
SignalMap | getSignalMap () const |
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FeatureReferenceHelper (void) | |
void | setReference (FeatureAbstract *sdes) |
void | unsetReference (void) |
bool | isReferenceSet (void) const |
FeatureVisualPoint * | getReference (void) |
const FeatureVisualPoint * | getReference (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 |
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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 ![]() | |
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 : ![]() | |
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: ![]() | |
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 |
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static const std::string | CLASS_NAME |
Store the name of the class. More... | |
Protected Attributes | |
dg::Matrix | L |
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std::string | name |
SignalMap | signalMap |
CommandMap_t | commandMap |
Additional Inherited Members | |
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typedef std::map< std::string, SignalBase< int > * > | SignalMap |
typedef std::map< const std::string, command::Command * > | CommandMap_t |
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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) |
Class that defines 2D visualPoint visual feature.
dynamicgraph::sot::FeatureVisualPoint::FeatureVisualPoint | ( | const std::string & | name | ) |
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inlinevirtual |
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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.
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virtual |
Compute the Jacobian of the error according the robot state.
Implements dynamicgraph::sot::FeatureAbstract.
dynamicgraph::sot::FeatureVisualPoint::DECLARE_REFERENCE_FUNCTIONS | ( | FeatureVisualPoint | ) |
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virtual |
Reimplemented from dynamicgraph::Entity.
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inlinevirtual |
Returns the name class.
Reimplemented from dynamicgraph::sot::FeatureAbstract.
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virtual |
Verbose method.
Implements dynamicgraph::sot::FeatureAbstract.
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inlinestatic |
Static Feature selection.
References dynamicgraph::sot::FLAG_LINE_1.
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inlinestatic |
References dynamicgraph::sot::FLAG_LINE_2.
dg::SignalPtr< dg::Matrix,int > dynamicgraph::sot::FeatureVisualPoint::articularJacobianSIN |
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static |
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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.