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10 #ifndef __SOT_FEATURE_POINT6D_HH__
11 #define __SOT_FEATURE_POINT6D_HH__
28 #if defined(feature_point6d_EXPORTS)
29 #define SOTFEATUREPOINT6D_EXPORT __declspec(dllexport)
31 #define SOTFEATUREPOINT6D_EXPORT __declspec(dllimport)
34 #define SOTFEATUREPOINT6D_EXPORT
56 virtual const std::string &
getClassName(
void)
const {
return CLASS_NAME; }
65 void computationFrame(
const std::string &inFrame);
67 std::string computationFrame()
const;
91 virtual unsigned int &getDimension(
unsigned int &dim,
int time);
93 virtual dg::Vector &computeError(dg::Vector &res,
int time);
94 virtual dg::Vector &computeErrordot(dg::Vector &res,
int time);
95 virtual dg::Matrix &computeJacobian(dg::Matrix &res,
int time);
108 virtual void display(std::ostream &os)
const;
111 void servoCurrentPosition(
void);
115 Eigen::Vector3d v_, omega_, errordot_t_, errordot_th_, Rreftomega_, t_, tref_;
118 Eigen::Matrix3d P_, Pinv_;
120 void inverseJacobianRodrigues();
126 #endif // #ifndef __SOT_FEATURE_POINT6D_HH__
SignalTimeDependent< dg::Matrix, int > jacobianSOUT
Jacobian of the error wrt the robot state: .
Definition: feature-abstract.hh:190
const SOT_CORE_EXPORT Flags FLAG_LINE_3
Definition: feature-abstract.hh:225
Definition: abstract-sot-external-interface.hh:17
const SOT_CORE_EXPORT Flags FLAG_LINE_5
static Flags selectTranslation(void)
Definition: feature-point6d.hh:105
ComputationFrameType
Definition: feature-point6d.hh:60
static Flags selectRZ(void)
Definition: feature-point6d.hh:103
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
static Flags selectRX(void)
Definition: feature-point6d.hh:101
This class gives the abstract definition of a feature.
Definition: feature-abstract.hh:76
dg::SignalPtr< MatrixHomogeneous, int > positionSIN
Definition: feature-point6d.hh:74
static Flags selectX(void)
Definition: feature-point6d.hh:98
@ FRAME_DESIRED
Definition: feature-point6d.hh:60
Eigen::AngleAxis< double > SOT_CORE_EXPORT VectorUTheta
Definition: matrix-geometry.hh:76
static Flags selectZ(void)
Definition: feature-point6d.hh:100
virtual const std::string & getClassName(void) const
Returns the name class.
Definition: feature-point6d.hh:56
dg::SignalPtr< dg::Matrix, int > articularJacobianSIN
Definition: feature-point6d.hh:76
static const ComputationFrameType COMPUTATION_FRAME_DEFAULT
Definition: feature-point6d.hh:61
#define SOTFEATUREPOINT6D_EXPORT
Definition: feature-point6d.hh:34
const SOT_CORE_EXPORT Flags FLAG_LINE_4
static Flags selectY(void)
Definition: feature-point6d.hh:99
static Flags selectRY(void)
Definition: feature-point6d.hh:102
Eigen::Matrix< double, 3, 3 > SOT_CORE_EXPORT MatrixRotation
Definition: matrix-geometry.hh:75
const SOT_CORE_EXPORT Flags FLAG_LINE_6
SignalPtr< Flags, int > selectionSIN
This vector specifies which dimension are used to perform the computation. For instance let us assume...
Definition: feature-abstract.hh:170
static Flags selectRotation(void)
Definition: feature-point6d.hh:106
dg::SignalPtr< dg::Vector, int > velocitySIN
Definition: feature-point6d.hh:75
static const std::string CLASS_NAME
Definition: feature-point6d.hh:55
virtual ~FeaturePoint6d(void)
Definition: feature-point6d.hh:89
const SOT_CORE_EXPORT Flags FLAG_LINE_2
const SOT_CORE_EXPORT Flags FLAG_LINE_1
Class that defines point-6d control feature.
Definition: feature-point6d.hh:50