9 #ifndef __SOT_FEATURE_POSE_HH__
10 #define __SOT_FEATURE_POSE_HH__
61 template <Representation_t representation = R3xSO3Representation>
66 virtual const std::string &
getClassName(
void)
const {
return CLASS_NAME; }
73 dynamicgraph::SignalPtr<MatrixHomogeneous, int>
oMja;
75 dynamicgraph::SignalPtr<MatrixHomogeneous, int>
jaMfa;
77 dynamicgraph::SignalPtr<MatrixHomogeneous, int>
oMjb;
79 dynamicgraph::SignalPtr<MatrixHomogeneous, int>
jbMfb;
81 dynamicgraph::SignalPtr<Matrix, int>
jaJja;
83 dynamicgraph::SignalPtr<Matrix, int>
jbJjb;
86 dynamicgraph::SignalPtr<MatrixHomogeneous, int>
faMfbDes;
96 SignalTimeDependent<MatrixHomogeneous, int>
faMfb;
120 virtual unsigned int &getDimension(
unsigned int &dim,
int time);
123 virtual dynamicgraph::Vector &computeError(dynamicgraph::Vector &res,
131 virtual dynamicgraph::Vector &computeErrorDot(dynamicgraph::Vector &res,
139 virtual dynamicgraph::Matrix &computeJacobian(dynamicgraph::Matrix &res,
142 virtual void display(std::ostream &os)
const;
145 void servoCurrentPosition(
const int &time);
155 template <
typename T>
158 const Vector &faNufafbDes);
163 #if __cplusplus >= 201103L
This class gives the abstract definition of a feature.
Definition: feature-abstract.hh:75
SignalTimeDependent< dynamicgraph::Matrix, int > jacobianSOUT
Jacobian of the error wrt the robot state: .
Definition: feature-abstract.hh:192
SignalTimeDependent< dynamicgraph::Vector, int > errorSOUT
This signal returns the error between the desired value and the current value : .
Definition: feature-abstract.hh:184
SignalPtr< Flags, int > selectionSIN
This vector specifies which dimension are used to perform the computation. For instance let us assume...
Definition: feature-abstract.hh:172
Feature that controls the relative (or absolute) pose between two frames A (or world) and B.
Definition: feature-pose.hh:62
dynamicgraph::SignalPtr< Matrix, int > jbJjb
Jacobian of the input Joint B, expressed in Joint B
Definition: feature-pose.hh:83
dynamicgraph::SignalPtr< Vector, int > faNufafbDes
Definition: feature-pose.hh:89
dynamicgraph::SignalPtr< MatrixHomogeneous, int > faMfbDes
The desired pose of Frame B wrt to Frame A.
Definition: feature-pose.hh:86
SignalTimeDependent< Vector7, int > q_faMfbDes
Definition: feature-pose.hh:104
SignalTimeDependent< MatrixHomogeneous, int > faMfb
Pose of Frame B wrt to Frame A.
Definition: feature-pose.hh:96
dynamicgraph::SignalPtr< MatrixHomogeneous, int > oMjb
Input pose of Joint B wrt to world frame.
Definition: feature-pose.hh:77
virtual const std::string & getClassName(void) const
Returns the name class.
Definition: feature-pose.hh:66
dynamicgraph::SignalPtr< MatrixHomogeneous, int > jbMfb
Input pose of Frame B wrt to Joint B.
Definition: feature-pose.hh:79
static const std::string CLASS_NAME
Definition: feature-pose.hh:65
dynamicgraph::SignalPtr< MatrixHomogeneous, int > oMja
Input pose of Joint A wrt to world frame.
Definition: feature-pose.hh:73
dynamicgraph::SignalPtr< Matrix, int > jaJja
Jacobian of the input Joint A, expressed in Joint A
Definition: feature-pose.hh:81
SignalTimeDependent< Vector7, int > q_faMfb
Definition: feature-pose.hh:100
dynamicgraph::SignalPtr< MatrixHomogeneous, int > jaMfa
Input pose of Frame A wrt to Joint A.
Definition: feature-pose.hh:75
#define SOT_CORE_DLLAPI
Definition: config.hh:64
FeaturePose< SE3Representation > FeaturePoseSE3_t
Definition: feature-pose.hh:169
Representation_t
Enum used to specify what difference operation is used in FeaturePose.
Definition: feature-pose.hh:29
@ SE3Representation
Definition: feature-pose.hh:29
@ R3xSO3Representation
Definition: feature-pose.hh:29
Eigen::Transform< double, 3, Eigen::Affine > SOT_CORE_EXPORT MatrixHomogeneous
Definition: matrix-geometry.hh:74
Eigen::Matrix< double, 7, 1 > SOT_CORE_EXPORT Vector7
Definition: matrix-geometry.hh:83
Vector6d convertVelocity(const MatrixHomogeneous &M, const MatrixHomogeneous &Mdes, const Vector &faNufafbDes)
FeaturePose< R3xSO3Representation > FeaturePose_t
Definition: feature-pose.hh:168
Definition: abstract-sot-external-interface.hh:17