10 #ifndef SOT_CORE_FEATURE_POSTURE_HH
11 #define SOT_CORE_FEATURE_POSTURE_HH
15 #include <dynamic-graph/signal-ptr.h>
16 #include <dynamic-graph/signal-time-dependent.h>
17 #include <dynamic-graph/value.h>
23 #if defined(feature_posture_EXPORTS)
24 #define SOTFEATUREPOSTURE_EXPORT __declspec(dllexport)
26 #define SOTFEATUREPOSTURE_EXPORT __declspec(dllimport)
29 #define SOTFEATUREPOSTURE_EXPORT
34 using command::Command;
50 friend class SelectDof;
52 DYNAMIC_GRAPH_ENTITY_DECL();
55 typedef dynamicgraph::SignalPtr<dynamicgraph::Vector, int>
signalIn_t;
56 typedef dynamicgraph::SignalTimeDependent<dynamicgraph::Vector, int>
67 virtual dynamicgraph::Vector &
computeError(dynamicgraph::Vector &res,
int);
78 std::vector<bool> activeDofs_;
79 std::size_t nbActiveDofs_;
This class gives the abstract definition of a feature.
Definition: feature-abstract.hh:75
Definition: feature-posture.hh:48
signalIn_t posture_
Definition: feature-posture.hh:73
signalIn_t state_
Definition: feature-posture.hh:72
FeaturePosture(const std::string &name)
virtual dynamicgraph::Vector & computeErrorDot(dynamicgraph::Vector &res, int time)
virtual unsigned int & getDimension(unsigned int &res, int)
Verbose method.
signalIn_t postureDot_
Definition: feature-posture.hh:74
virtual dynamicgraph::Matrix & computeJacobian(dynamicgraph::Matrix &res, int)
Compute the Jacobian of the error according the robot state.
dynamicgraph::SignalTimeDependent< dynamicgraph::Vector, int > signalOut_t
Definition: feature-posture.hh:57
virtual dynamicgraph::Vector & computeError(dynamicgraph::Vector &res, int)
Compute the error between the desired feature and the current value of the feature measured or deduce...
DECLARE_NO_REFERENCE
Definition: feature-posture.hh:59
signalOut_t error_
Definition: feature-posture.hh:75
virtual ~FeaturePosture()
void selectDof(unsigned dofId, bool control)
dynamicgraph::SignalPtr< dynamicgraph::Vector, int > signalIn_t
Definition: feature-posture.hh:55
#define SOTFEATUREPOSTURE_EXPORT
Definition: feature-posture.hh:29
Definition: abstract-sot-external-interface.hh:17