10 #ifndef __SOT_FEATURE_POINT6DRELATIVE_HH__
11 #define __SOT_FEATURE_POINT6DRELATIVE_HH__
28 #if defined(feature_point6d_relative_EXPORTS)
29 #define SOTFEATUREPOINT6DRELATIVE_EXPORT __declspec(dllexport)
31 #define SOTFEATUREPOINT6DRELATIVE_EXPORT __declspec(dllimport)
34 #define SOTFEATUREPOINT6DRELATIVE_EXPORT
55 virtual const std::string &
getClassName(
void)
const {
return CLASS_NAME; }
58 dynamicgraph::Matrix
L;
63 dynamicgraph::SignalPtr<dynamicgraph::Matrix, int>
84 virtual dynamicgraph::Vector &
computeError(dynamicgraph::Vector &res,
91 virtual void display(std::ostream &os)
const;
94 void initSdes(
const std::string &featureDesiredName);
Class that defines the motion of a point of the body wrt. another point.
Definition: feature-point6d-relative.hh:51
void initSdes(const std::string &featureDesiredName)
dynamicgraph::Matrix L
Definition: feature-point6d-relative.hh:58
virtual dynamicgraph::Vector & computeError(dynamicgraph::Vector &res, int time)
Compute the error between the desired feature and the current value of the feature measured or deduce...
virtual ~FeaturePoint6dRelative(void)
Definition: feature-point6d-relative.hh:82
virtual dynamicgraph::Matrix & computeJacobian(dynamicgraph::Matrix &res, int time)
Compute the Jacobian of the error according the robot state.
virtual const std::string & getClassName(void) const
Returns the name class.
Definition: feature-point6d-relative.hh:55
dynamicgraph::SignalPtr< dynamicgraph::Matrix, int > articularJacobianReferenceSIN
Definition: feature-point6d-relative.hh:64
dynamicgraph::SignalPtr< MatrixHomogeneous, int > dotpositionSIN
Definition: feature-point6d-relative.hh:73
dynamicgraph::SignalPtr< MatrixHomogeneous, int > dotpositionReferenceSIN
Definition: feature-point6d-relative.hh:75
FeaturePoint6dRelative(const std::string &name)
virtual void display(std::ostream &os) const
static const std::string CLASS_NAME
Definition: feature-point6d-relative.hh:54
dynamicgraph::SignalPtr< MatrixHomogeneous, int > positionReferenceSIN
Definition: feature-point6d-relative.hh:62
virtual dynamicgraph::Vector & computeErrorDot(dynamicgraph::Vector &res, int time)
Class that defines point-6d control feature.
Definition: feature-point6d.hh:51
FeaturePoint6d * getReference(void)
Definition: feature-abstract.hh:238
#define SOTFEATUREPOINT6DRELATIVE_EXPORT
Definition: feature-point6d-relative.hh:34
Definition: abstract-sot-external-interface.hh:17