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10 #ifndef __SOT_FEATURE_1D_HH__
11 #define __SOT_FEATURE_1D_HH__
26 #if defined(feature_1d_EXPORTS)
27 #define SOTFEATURE1D_EXPORT __declspec(dllexport)
29 #define SOTFEATURE1D_EXPORT __declspec(dllimport)
32 #define SOTFEATURE1D_EXPORT
56 virtual const std::string &
getClassName(
void)
const {
return CLASS_NAME; }
94 virtual unsigned int &getDimension(
unsigned int &dim,
int time);
102 virtual dg::Vector &computeError(dg::Vector &res,
int time);
105 virtual dg::Matrix &computeJacobian(dg::Matrix &res,
int time);
110 virtual void display(std::ostream &os)
const;
122 #endif // #ifndef __SOT_FEATURE_1D_HH__
SignalTimeDependent< dg::Matrix, int > jacobianSOUT
Jacobian of the error wrt the robot state: .
Definition: feature-abstract.hh:190
Definition: feature-abstract.hh:225
Definition: abstract-sot-external-interface.hh:17
static const std::string CLASS_NAME
Definition: feature-1d.hh:54
SignalTimeDependent< dg::Vector, int > errorSOUT
This signal returns the error between the desired value and the current value : .
Definition: feature-abstract.hh:182
#define DECLARE_REFERENCE_FUNCTIONS(FeatureSpecialized)
Definition: feature-abstract.hh:247
Simple test: the task is defined to be e_2 = .5 . e'.e, with e the mother task. The jacobian is then ...
Definition: feature-1d.hh:49
This class gives the abstract definition of a feature.
Definition: feature-abstract.hh:76
dg::SignalPtr< dg::Matrix, int > jacobianSIN
Input for the Jacobian.
Definition: feature-1d.hh:71
#define SOTFEATURE1D_EXPORT
Definition: feature-1d.hh:32
virtual ~Feature1D(void)
Default destructor.
Definition: feature-1d.hh:91
dg::SignalPtr< dg::Vector, int > errorSIN
Input for the error.
Definition: feature-1d.hh:68
virtual const std::string & getClassName(void) const
Definition: feature-1d.hh:56