10 #ifndef __SOT_FEATURE_GENERIC_HH__ 11 #define __SOT_FEATURE_GENERIC_HH__ 26 #if defined(feature_generic_EXPORTS) 27 #define SOTFEATUREGENERIC_EXPORT __declspec(dllexport) 29 #define SOTFEATUREGENERIC_EXPORT __declspec(dllimport) 32 #define SOTFEATUREGENERIC_EXPORT 65 virtual const std::string &
getClassName(
void)
const {
return CLASS_NAME; }
105 virtual unsigned int &getDimension(
unsigned int &dim,
int time);
113 virtual dg::Vector &computeError(dg::Vector &res,
int time);
116 virtual dg::Matrix &computeJacobian(dg::Matrix &res,
int time);
121 virtual void display(std::ostream &os)
const;
133 #endif // #ifndef __SOT_FEATURE_GENERIC_HH__ #define SOTFEATUREGENERIC_EXPORT
Definition: feature-generic.hh:32
Definition: feature-abstract.hh:225
Eigen::VectorXd::Index Index
Definition: robot-utils.hh:36
virtual const std::string & getClassName(void) const
Definition: feature-generic.hh:65
dg::SignalPtr< dg::Vector, int > errorSIN
Input for the error.
Definition: feature-generic.hh:79
SignalTimeDependent< dg::Matrix, int > jacobianSOUT
Jacobian of the error wrt the robot state: .
Definition: feature-abstract.hh:190
SignalTimeDependent< dg::Vector, int > errorSOUT
This signal returns the error between the desired value and the current value : . ...
Definition: feature-abstract.hh:182
dg::SignalPtr< dg::Matrix, int > jacobianSIN
Input for the Jacobian.
Definition: feature-generic.hh:82
This class gives the abstract definition of a feature.
Definition: feature-abstract.hh:76
#define DECLARE_REFERENCE_FUNCTIONS(FeatureSpecialized)
Definition: feature-abstract.hh:247
virtual ~FeatureGeneric(void)
Default destructor.
Definition: feature-generic.hh:102
dg::Vector::Index dimensionDefault
Definition: feature-generic.hh:68
static const std::string CLASS_NAME
Definition: feature-generic.hh:63
Class that defines a generic implementation of the abstract interface for features.
Definition: feature-generic.hh:57
Definition: abstract-sot-external-interface.hh:17