10 #ifndef __SOT_FEATURE_VECTOR3_HH__
11 #define __SOT_FEATURE_VECTOR3_HH__
27 #if defined(feature_vector3_EXPORTS)
28 #define SOTFEATUREVECTOR3_EXPORT __declspec(dllexport)
30 #define SOTFEATUREVECTOR3_EXPORT __declspec(dllimport)
33 #define SOTFEATUREVECTOR3_EXPORT
51 virtual const std::string &
getClassName(
void)
const {
return CLASS_NAME; }
58 dynamicgraph::SignalPtr<dynamicgraph::Vector, int>
vectorSIN;
73 virtual dynamicgraph::Vector &
computeError(dynamicgraph::Vector &res,
78 virtual void display(std::ostream &os)
const;
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
Class that defines point-3d control feature.
Definition: feature-vector3.hh:47
dynamicgraph::SignalPtr< dynamicgraph::Vector, int > positionRefSIN
Definition: feature-vector3.hh:61
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...
DECLARE_NO_REFERENCE
Definition: feature-vector3.hh:53
static const std::string CLASS_NAME
Definition: feature-vector3.hh:50
virtual const std::string & getClassName(void) const
Returns the name class.
Definition: feature-vector3.hh:51
dynamicgraph::SignalPtr< MatrixHomogeneous, int > positionSIN
Definition: feature-vector3.hh:59
virtual void display(std::ostream &os) const
dynamicgraph::SignalPtr< dynamicgraph::Matrix, int > articularJacobianSIN
Definition: feature-vector3.hh:60
dynamicgraph::SignalPtr< dynamicgraph::Vector, int > vectorSIN
Definition: feature-vector3.hh:58
virtual ~FeatureVector3(void)
Definition: feature-vector3.hh:69
virtual dynamicgraph::Matrix & computeJacobian(dynamicgraph::Matrix &res, int time)
Compute the Jacobian of the error according the robot state.
FeatureVector3(const std::string &name)
virtual unsigned int & getDimension(unsigned int &dim, int time)
Verbose method.
#define SOTFEATUREVECTOR3_EXPORT
Definition: feature-vector3.hh:33
Definition: abstract-sot-external-interface.hh:17