10 #ifndef __SOT_FEATURE_VECTOR3_HH__ 11 #define __SOT_FEATURE_VECTOR3_HH__ 27 #if defined(feature_vector3_EXPORTS) 28 #define SOTFEATUREVECTOR3_EXPORT __declspec(dllexport) 30 #define SOTFEATUREVECTOR3_EXPORT __declspec(dllimport) 33 #define SOTFEATUREVECTOR3_EXPORT 52 virtual const std::string &
getClassName(
void)
const {
return CLASS_NAME; }
72 virtual unsigned int &getDimension(
unsigned int &dim,
int time);
74 virtual dg::Vector &computeError(dg::Vector &res,
int time);
75 virtual dg::Matrix &computeJacobian(dg::Matrix &res,
int time);
77 virtual void display(std::ostream &os)
const;
83 #endif // #ifndef __SOT_FEATURE_VECTOR3_HH__ dg::SignalPtr< MatrixHomogeneous, int > positionSIN
Definition: feature-vector3.hh:60
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
Class that defines point-3d control feature.
Definition: feature-vector3.hh:48
DECLARE_NO_REFERENCE
Definition: feature-vector3.hh:54
dg::SignalPtr< dg::Matrix, int > articularJacobianSIN
Definition: feature-vector3.hh:61
SignalTimeDependent< dg::Matrix, int > jacobianSOUT
Jacobian of the error wrt the robot state: .
Definition: feature-abstract.hh:190
virtual const std::string & getClassName(void) const
Returns the name class.
Definition: feature-vector3.hh:52
dg::SignalPtr< dg::Vector, int > vectorSIN
Definition: feature-vector3.hh:59
SignalTimeDependent< dg::Vector, int > errorSOUT
This signal returns the error between the desired value and the current value : . ...
Definition: feature-abstract.hh:182
#define SOTFEATUREVECTOR3_EXPORT
Definition: feature-vector3.hh:33
dg::SignalPtr< dg::Vector, int > positionRefSIN
Definition: feature-vector3.hh:62
This class gives the abstract definition of a feature.
Definition: feature-abstract.hh:76
static const std::string CLASS_NAME
Definition: feature-vector3.hh:51
virtual ~FeatureVector3(void)
Definition: feature-vector3.hh:70
Definition: abstract-sot-external-interface.hh:17