10 #ifndef __SOT_FEATURE_GENERIC_HH__
11 #define __SOT_FEATURE_GENERIC_HH__
26 #if defined(feature_generic_EXPORTS)
27 #define SOTFEATUREGENERIC_EXPORT __declspec(dllexport)
29 #define SOTFEATUREGENERIC_EXPORT __declspec(dllimport)
32 #define SOTFEATUREGENERIC_EXPORT
64 virtual const std::string &
getClassName(
void)
const {
return CLASS_NAME; }
78 dynamicgraph::SignalPtr<dynamicgraph::Vector, int>
errorSIN;
81 dynamicgraph::SignalPtr<dynamicgraph::Matrix, int>
jacobianSIN;
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
Class that defines a generic implementation of the abstract interface for features.
Definition: feature-generic.hh:58
dynamicgraph::Vector::Index dimensionDefault
Definition: feature-generic.hh:67
static const std::string CLASS_NAME
Definition: feature-generic.hh:62
dynamicgraph::SignalPtr< dynamicgraph::Vector, int > errorSIN
Input for the error.
Definition: feature-generic.hh:78
DECLARE_REFERENCE_FUNCTIONS(FeatureGeneric)
FeatureGeneric(const std::string &name)
Default constructor.
virtual const std::string & getClassName(void) const
Definition: feature-generic.hh:64
dynamicgraph::SignalPtr< dynamicgraph::Matrix, int > jacobianSIN
Input for the Jacobian.
Definition: feature-generic.hh:81
virtual ~FeatureGeneric(void)
Default destructor.
Definition: feature-generic.hh:101
virtual dynamicgraph::Vector & computeError(dynamicgraph::Vector &res, int time)
Compute the error between the desired value and the value itself.
virtual dynamicgraph::Matrix & computeJacobian(dynamicgraph::Matrix &res, int time)
Compute the Jacobian of the value according to the robot state..
virtual void display(std::ostream &os) const
Display the information related to this generic implementation.
virtual unsigned int & getDimension(unsigned int &dim, int time)
Get the dimension of the feature.
Definition: feature-abstract.hh:227
#define SOTFEATUREGENERIC_EXPORT
Definition: feature-generic.hh:32
Eigen::VectorXd::Index Index
Definition: robot-utils.hh:39
Definition: abstract-sot-external-interface.hh:17