10 #ifndef __SOT_FEATURE_POINT6DRELATIVE_HH__ 11 #define __SOT_FEATURE_POINT6DRELATIVE_HH__ 28 #if defined(feature_point6d_relative_EXPORTS) 29 #define SOTFEATUREPOINT6DRELATIVE_EXPORT __declspec(dllexport) 31 #define SOTFEATUREPOINT6DRELATIVE_EXPORT __declspec(dllimport) 34 #define SOTFEATUREPOINT6DRELATIVE_EXPORT 54 virtual const std::string &
getClassName(
void)
const {
return CLASS_NAME; }
57 dynamicgraph::Matrix
L;
62 dynamicgraph::SignalPtr<dynamicgraph::Matrix, int>
83 virtual dynamicgraph::Vector &computeError(dynamicgraph::Vector & res,
85 virtual dynamicgraph::Vector &computeErrorDot(dynamicgraph::Vector & res,
87 virtual dynamicgraph::Matrix &computeJacobian(dynamicgraph::Matrix & res,
90 virtual void display(std::ostream & os)
const;
92 void initCommands(
void);
93 void initSdes(
const std::string &featureDesiredName);
99 #endif // #ifndef __SOT_FEATURE_POINT6DRELATIVE_HH__ dynamicgraph::SignalPtr< MatrixHomogeneous, int > dotpositionReferenceSIN
Definition: feature-point6d-relative.hh:74
Class that defines point-6d control feature.
Definition: feature-point6d.hh:49
virtual ~FeaturePoint6dRelative(void)
Definition: feature-point6d-relative.hh:81
#define SOTFEATUREPOINT6DRELATIVE_EXPORT
Definition: feature-point6d-relative.hh:34
dynamicgraph::Matrix L
Definition: feature-point6d-relative.hh:57
dynamicgraph::SignalPtr< MatrixHomogeneous, int > positionReferenceSIN
Definition: feature-point6d-relative.hh:61
dynamicgraph::SignalPtr< MatrixHomogeneous, int > dotpositionSIN
Definition: feature-point6d-relative.hh:72
Feature that controls the relative (or absolute) pose between two frames A (or world) and B...
Definition: feature-pose.hh:62
static const std::string CLASS_NAME
Definition: feature-point6d-relative.hh:53
FeaturePoint6d * getReference(void)
Definition: feature-abstract.hh:240
Class that defines the motion of a point of the body wrt. another point.
Definition: feature-point6d-relative.hh:50
Definition: abstract-sot-external-interface.hh:17
virtual const std::string & getClassName(void) const
Returns the name class.
Definition: feature-point6d-relative.hh:54
dynamicgraph::SignalPtr< dynamicgraph::Matrix, int > articularJacobianReferenceSIN
Definition: feature-point6d-relative.hh:63