dynamicgraph::sot::dyninv::FeatureProjectedLine Class Reference

#include <feature-projected-line.h>

Inheritance diagram for dynamicgraph::sot::dyninv::FeatureProjectedLine:
[legend]
Collaboration diagram for dynamicgraph::sot::dyninv::FeatureProjectedLine:
[legend]

Public Member Functions

 DECLARE_SIGNAL_IN (xa, MatrixHomogeneous)
 
 DECLARE_SIGNAL_IN (xb, MatrixHomogeneous)
 
 DECLARE_SIGNAL_IN (Ja, dg::Matrix)
 
 DECLARE_SIGNAL_IN (Jb, dg::Matrix)
 
 DECLARE_SIGNAL_IN (xc, dg::Vector)
 
 FeatureProjectedLine (const std::string &name)
 
virtual ~FeatureProjectedLine (void)
 
virtual unsigned int & getDimension (unsigned int &dim, int time)
 
virtual dg::VectorcomputeError (dg::Vector &res, int time)
 Compute the error between two visual features from a subset a the possible features. More...
 
virtual dg::MatrixcomputeJacobian (dg::Matrix &res, int time)
 Compute the interaction matrix from a subset of the possible features. More...
 
virtual void display (std::ostream &os) const
 
 DECLARE_SIGNAL_IN (xa, MatrixHomogeneous)
 
 DECLARE_SIGNAL_IN (xb, MatrixHomogeneous)
 
 DECLARE_SIGNAL_IN (Ja, dg::Matrix)
 
 DECLARE_SIGNAL_IN (Jb, dg::Matrix)
 
 DECLARE_SIGNAL_IN (xc, dg::Vector)
 
 FeatureProjectedLine (const std::string &name)
 
virtual ~FeatureProjectedLine (void)
 
virtual unsigned int & getDimension (unsigned int &dim, int time)
 
virtual dg::VectorcomputeError (dg::Vector &res, int time)
 
virtual dg::MatrixcomputeJacobian (dg::Matrix &res, int time)
 
virtual void display (std::ostream &os) const
 
- Public Member Functions inherited from dynamicgraph::sot::FeatureAbstract
virtual const std::string & getClassName (void) const
 
void featureRegistration (void)
 
void initCommands (void)
 
 FeatureAbstract (const std::string &name)
 
virtual ~FeatureAbstract (void)
 
unsigned int getDimension (int time)
 
unsigned int getDimension (void) const
 
virtual dg::VectorcomputeErrorDot (dg::Vector &res, int time)
 
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
 
unsigned int getDimension (int time)
 
unsigned int getDimension (void) const
 
virtual dg::VectorcomputeErrorDot (dg::Vector &res, int time)
 
virtual std::ostream & writeGraph (std::ostream &os) const
 
virtual SOT_CORE_DEPRECATED bool withErrorDot (void) const
 
virtual SignalTimeDependent< dg::Vector, int > & getErrorDot ()
 
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
 
- 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 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
 
void sendMsg (const std::string &msg, MsgType t=MSG_TYPE_INFO, const char *file="", int line=0)
 
void setLoggerVerbosityLevel (LoggerVerbosity lv)
 
LoggerVerbosity getLoggerVerbosityLevel ()
 
bool setTimeSample (double t)
 
double getTimeSample ()
 
bool setStreamPrintPeriod (double t)
 
double getStreamPrintPeriod ()
 

Public Attributes

 DECLARE_NO_REFERENCE
 
- Public Attributes inherited from dynamicgraph::sot::FeatureAbstract
SignalPtr< Flags, int > selectionSIN
 
SignalPtr< dg::Vector, int > errordotSIN
 
SignalTimeDependent< dg::Vector, int > errorSOUT
 
SignalTimeDependent< dg::Vector, int > errordotSOUT
 
SignalTimeDependent< dg::Matrix, int > jacobianSOUT
 
SignalTimeDependent< unsigned int, int > dimensionSOUT
 

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
 
- Static Public Attributes inherited from dynamicgraph::sot::FeatureAbstract
static const std::string CLASS_NAME
 
- 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)
 
- Protected Attributes inherited from dynamicgraph::Entity
std::string name
 
SignalMap signalMap
 
CommandMap_t commandMap
 
Logger logger_
 

Constructor & Destructor Documentation

◆ FeatureProjectedLine() [1/2]

◆ ~FeatureProjectedLine() [1/2]

virtual dynamicgraph::sot::dyninv::FeatureProjectedLine::~FeatureProjectedLine ( void  )
inlinevirtual

◆ FeatureProjectedLine() [2/2]

dynamicgraph::sot::dyninv::FeatureProjectedLine::FeatureProjectedLine ( const std::string &  name)

◆ ~FeatureProjectedLine() [2/2]

virtual dynamicgraph::sot::dyninv::FeatureProjectedLine::~FeatureProjectedLine ( void  )
inlinevirtual

Member Function Documentation

◆ computeError() [1/2]

dg::Vector & dynamicgraph::sot::dyninv::FeatureProjectedLine::computeError ( dg::Vector res,
int  time 
)
virtual

Compute the error between two visual features from a subset a the possible features.

Implements dynamicgraph::sot::FeatureAbstract.

References display(), sotDEBUGIN, and sotDEBUGOUT.

◆ computeError() [2/2]

virtual dg::Vector& dynamicgraph::sot::dyninv::FeatureProjectedLine::computeError ( dg::Vector res,
int  time 
)
virtual

◆ computeJacobian() [1/2]

dg::Matrix & dynamicgraph::sot::dyninv::FeatureProjectedLine::computeJacobian ( dg::Matrix res,
int  time 
)
virtual

Compute the interaction matrix from a subset of the possible features.

Implements dynamicgraph::sot::FeatureAbstract.

References sotDEBUGIN, and sotDEBUGOUT.

Referenced by getDimension().

◆ computeJacobian() [2/2]

virtual dg::Matrix& dynamicgraph::sot::dyninv::FeatureProjectedLine::computeJacobian ( dg::Matrix res,
int  time 
)
virtual

◆ DECLARE_SIGNAL_IN() [1/10]

dynamicgraph::sot::dyninv::FeatureProjectedLine::DECLARE_SIGNAL_IN ( xa  ,
MatrixHomogeneous   
)

◆ DECLARE_SIGNAL_IN() [2/10]

dynamicgraph::sot::dyninv::FeatureProjectedLine::DECLARE_SIGNAL_IN ( xa  ,
MatrixHomogeneous   
)

◆ DECLARE_SIGNAL_IN() [3/10]

dynamicgraph::sot::dyninv::FeatureProjectedLine::DECLARE_SIGNAL_IN ( xb  ,
MatrixHomogeneous   
)

◆ DECLARE_SIGNAL_IN() [4/10]

dynamicgraph::sot::dyninv::FeatureProjectedLine::DECLARE_SIGNAL_IN ( xb  ,
MatrixHomogeneous   
)

◆ DECLARE_SIGNAL_IN() [5/10]

dynamicgraph::sot::dyninv::FeatureProjectedLine::DECLARE_SIGNAL_IN ( Ja  ,
dg::Matrix   
)

◆ DECLARE_SIGNAL_IN() [6/10]

dynamicgraph::sot::dyninv::FeatureProjectedLine::DECLARE_SIGNAL_IN ( Ja  ,
dg::Matrix   
)

◆ DECLARE_SIGNAL_IN() [7/10]

dynamicgraph::sot::dyninv::FeatureProjectedLine::DECLARE_SIGNAL_IN ( Jb  ,
dg::Matrix   
)

◆ DECLARE_SIGNAL_IN() [8/10]

dynamicgraph::sot::dyninv::FeatureProjectedLine::DECLARE_SIGNAL_IN ( Jb  ,
dg::Matrix   
)

◆ DECLARE_SIGNAL_IN() [9/10]

dynamicgraph::sot::dyninv::FeatureProjectedLine::DECLARE_SIGNAL_IN ( xc  ,
dg::Vector   
)

◆ DECLARE_SIGNAL_IN() [10/10]

dynamicgraph::sot::dyninv::FeatureProjectedLine::DECLARE_SIGNAL_IN ( xc  ,
dg::Vector   
)

◆ display() [1/2]

virtual void dynamicgraph::sot::dyninv::FeatureProjectedLine::display ( std::ostream &  os) const
virtual

Reimplemented from dynamicgraph::Entity.

◆ display() [2/2]

void dynamicgraph::sot::dyninv::FeatureProjectedLine::display ( std::ostream &  os) const
virtual

Reimplemented from dynamicgraph::Entity.

References dynamicgraph::Entity::name.

Referenced by computeError().

◆ getDimension() [1/2]

virtual unsigned int& dynamicgraph::sot::dyninv::FeatureProjectedLine::getDimension ( unsigned int &  dim,
int  time 
)
virtual

◆ getDimension() [2/2]

unsigned int & dynamicgraph::sot::dyninv::FeatureProjectedLine::getDimension ( unsigned int &  dim,
int  time 
)
virtual

Member Data Documentation

◆ DECLARE_NO_REFERENCE

dynamicgraph::sot::dyninv::FeatureProjectedLine::DECLARE_NO_REFERENCE