10 #ifndef __SOT_FEATURE_JOINTLIMITS_HH__ 11 #define __SOT_FEATURE_JOINTLIMITS_HH__ 26 #if defined(feature_joint_limits_EXPORTS) 27 #define SOTFEATUREJOINTLIMITS_EXPORT __declspec(dllexport) 29 #define SOTFEATUREJOINTLIMITS_EXPORT __declspec(dllimport) 32 #define SOTFEATUREJOINTLIMITS_EXPORT 53 virtual const std::string &
getClassName(
void)
const {
return CLASS_NAME; }
85 virtual unsigned int &getDimension(
unsigned int &dim,
int time);
87 virtual dg::Vector &computeError(dg::Vector &res,
int time);
88 virtual dg::Matrix &computeJacobian(dg::Matrix &res,
int time);
89 dg::Vector &computeWidthJl(dg::Vector &res,
const int &time);
92 inline static Flags selectActuated(
void);
94 virtual void display(std::ostream &os)
const;
100 #endif // #ifndef __SOT_FEATURE_JOINTLIMITS_HH__ static const std::string CLASS_NAME
Definition: feature-joint-limits.hh:52
virtual const std::string & getClassName(void) const
Returns the name class.
Definition: feature-joint-limits.hh:53
virtual ~FeatureJointLimits(void)
Definition: feature-joint-limits.hh:83
SignalPtr< Flags, int > selectionSIN
This vector specifies which dimension are used to perform the computation. For instance let us assume...
Definition: feature-abstract.hh:170
Definition: feature-abstract.hh:225
static const double THRESHOLD_DEFAULT
Definition: feature-joint-limits.hh:57
SignalTimeDependent< dg::Matrix, int > jacobianSOUT
Jacobian of the error wrt the robot state: .
Definition: feature-abstract.hh:190
dg::SignalTimeDependent< dg::Vector, int > widthJlSINTERN
Definition: feature-joint-limits.hh:68
dg::SignalPtr< dg::Vector, int > jointSIN
Definition: feature-joint-limits.hh:65
SignalTimeDependent< dg::Vector, int > errorSOUT
This signal returns the error between the desired value and the current value : . ...
Definition: feature-abstract.hh:182
Class that defines gradient vector for jl avoidance.
Definition: feature-joint-limits.hh:47
This class gives the abstract definition of a feature.
Definition: feature-abstract.hh:76
double threshold
Definition: feature-joint-limits.hh:56
#define SOTFEATUREJOINTLIMITS_EXPORT
Definition: feature-joint-limits.hh:32
#define DECLARE_REFERENCE_FUNCTIONS(FeatureSpecialized)
Definition: feature-abstract.hh:247
dg::SignalPtr< dg::Vector, int > lowerJlSIN
Definition: feature-joint-limits.hh:67
dg::SignalPtr< dg::Vector, int > upperJlSIN
Definition: feature-joint-limits.hh:66
Definition: abstract-sot-external-interface.hh:17