dynamicgraph::sot::FeaturePoint6dRelative Class Reference

Class that defines the motion of a point of the body wrt. another point. More...

#include <sot/core/feature-point6d-relative.hh>

Inheritance diagram for dynamicgraph::sot::FeaturePoint6dRelative:
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List of all members.

Public Member Functions

virtual const std::string & getClassName (void) const
 Returns the name class.
 FeaturePoint6dRelative (const std::string &name)
virtual ~FeaturePoint6dRelative (void)
virtual dg::VectorcomputeError (dg::Vector &res, int time)
 Compute the error between the desired feature and the current value of the feature measured or deduced from the robot state.
virtual dg::VectorcomputeErrorDot (dg::Vector &res, int time)
 Callback for signal errordotSOUT.
virtual dg::MatrixcomputeJacobian (dg::Matrix &res, int time)
 Compute the Jacobian of the error according the robot state.
virtual void display (std::ostream &os) const
void initCommands (void)
void initSdes (const std::string &featureDesiredName)

Public Attributes

dg::SignalPtr
< MatrixHomogeneous, int > 
positionReferenceSIN
dg::SignalPtr< dg::Matrix, int > articularJacobianReferenceSIN
dg::SignalPtr
< MatrixHomogeneous, int > 
dotpositionSIN
dg::SignalPtr
< MatrixHomogeneous, int > 
dotpositionReferenceSIN

Static Public Attributes

static const std::string CLASS_NAME
 Store the name of the class.

Protected Attributes

dg::Matrix L

Detailed Description

Class that defines the motion of a point of the body wrt. another point.


Constructor & Destructor Documentation

dynamicgraph::sot::FeaturePoint6dRelative::FeaturePoint6dRelative ( const std::string &  name)
virtual dynamicgraph::sot::FeaturePoint6dRelative::~FeaturePoint6dRelative ( void  ) [inline, virtual]

Member Function Documentation

virtual dg::Vector& dynamicgraph::sot::FeaturePoint6dRelative::computeError ( dg::Vector res,
int  time 
) [virtual]

Compute the error between the desired feature and the current value of the feature measured or deduced from the robot state.

[out] res: The error will be set into res.
[in] time: The time at which the error is computed.
Returns:
The vector res with the appropriate value.

Reimplemented from dynamicgraph::sot::FeaturePoint6d.

virtual dg::Vector& dynamicgraph::sot::FeaturePoint6dRelative::computeErrorDot ( dg::Vector res,
int  time 
) [virtual]

Callback for signal errordotSOUT.

Copy components of the input signal errordotSIN defined by selection flag selectionSIN.

Reimplemented from dynamicgraph::sot::FeatureAbstract.

virtual dg::Matrix& dynamicgraph::sot::FeaturePoint6dRelative::computeJacobian ( dg::Matrix res,
int  time 
) [virtual]

Compute the Jacobian of the error according the robot state.

[out] res: The matrix in which the error will be written.
Returns:
The matrix res with the appropriate values.

Reimplemented from dynamicgraph::sot::FeaturePoint6d.

virtual void dynamicgraph::sot::FeaturePoint6dRelative::display ( std::ostream &  os) const [virtual]

Reimplemented from dynamicgraph::sot::FeaturePoint6d.

virtual const std::string& dynamicgraph::sot::FeaturePoint6dRelative::getClassName ( void  ) const [inline, virtual]

Returns the name class.

Reimplemented from dynamicgraph::sot::FeaturePoint6d.

void dynamicgraph::sot::FeaturePoint6dRelative::initCommands ( void  )
void dynamicgraph::sot::FeaturePoint6dRelative::initSdes ( const std::string &  featureDesiredName)

Member Data Documentation

Store the name of the class.

Reimplemented from dynamicgraph::sot::FeaturePoint6d.

dg::Signals related to the computation of the derivative of the error

dg::Signals giving the derivative of the input signals.

Derivative of the relative position.