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9 #ifndef __SOT_FEATURE_TRANSFORMATION_HH__
10 #define __SOT_FEATURE_TRANSFORMATION_HH__
62 template <Representation_t representation = R3xSO3Representation>
67 virtual const std::string &
getClassName(
void)
const {
return CLASS_NAME; }
73 dg::SignalPtr<MatrixHomogeneous, int> oMja;
76 dg::SignalPtr<MatrixHomogeneous, int>
jaMfa;
78 dg::SignalPtr<MatrixHomogeneous, int>
oMjb;
80 dg::SignalPtr<MatrixHomogeneous, int>
jbMfb;
82 dg::SignalPtr<Matrix, int>
jaJja;
84 dg::SignalPtr<Matrix, int>
jbJjb;
87 dg::SignalPtr<MatrixHomogeneous, int>
faMfbDes;
96 SignalTimeDependent<MatrixHomogeneous, int> faMfb;
121 virtual unsigned int &getDimension(
unsigned int &dim,
int time);
124 virtual dg::Vector &computeError(dg::Vector &res,
int time);
131 virtual dg::Vector &computeErrorDot(dg::Vector &res,
int time);
138 virtual dg::Matrix &computeJacobian(dg::Matrix &res,
int time);
151 virtual void display(std::ostream &os)
const;
154 void servoCurrentPosition(
const int &time);
167 #endif // #ifndef __SOT_FEATURE_TRANSFORMATION_HH__
#define DECLARE_NO_REFERENCE
Definition: feature-abstract.hh:273
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
@ SE3Representation
Definition: feature-pose.hh:30
static Flags selectRY(void)
Definition: feature-pose.hh:145
Eigen::Transform< double, 3, Eigen::Affine > SOT_CORE_EXPORT MatrixHomogeneous
Definition: matrix-geometry.hh:74
Definition: abstract-sot-external-interface.hh:17
const SOT_CORE_EXPORT Flags FLAG_LINE_5
static Flags selectTranslation(void)
Definition: feature-pose.hh:148
virtual ~FeaturePose(void)
Definition: feature-pose.hh:119
static Flags selectY(void)
Definition: feature-pose.hh:142
SignalTimeDependent< Vector7, int > q_faMfbDes
Definition: feature-pose.hh:105
SignalTimeDependent< dg::Vector, int > errorSOUT
This signal returns the error between the desired value and the current value : .
Definition: feature-abstract.hh:182
static Flags selectZ(void)
Definition: feature-pose.hh:143
dg::SignalPtr< MatrixHomogeneous, int > oMjb
Input pose of Joint B wrt to world frame.
Definition: feature-pose.hh:78
static Flags selectRZ(void)
Definition: feature-pose.hh:146
SignalTimeDependent< Vector7, int > q_faMfb
Definition: feature-pose.hh:101
dg::SignalPtr< MatrixHomogeneous, int > jbMfb
Input pose of Frame B wrt to Joint B.
Definition: feature-pose.hh:80
dg::SignalPtr< Vector, int > faNufafbDes
Definition: feature-pose.hh:90
This class gives the abstract definition of a feature.
Definition: feature-abstract.hh:76
@ R3xSO3Representation
Definition: feature-pose.hh:30
static Flags selectX(void)
Definition: feature-pose.hh:141
Feature that controls the relative (or absolute) pose between two frames A (or world) and B.
Definition: feature-pose.hh:63
static Flags selectRotation(void)
Definition: feature-pose.hh:149
dg::SignalPtr< MatrixHomogeneous, int > faMfbDes
The desired pose of Frame B wrt to Frame A.
Definition: feature-pose.hh:87
static const std::string CLASS_NAME
Definition: feature-pose.hh:66
virtual const std::string & getClassName(void) const
Returns the name class.
Definition: feature-pose.hh:67
Representation_t
Enum used to specify what difference operation is used in FeaturePose.
Definition: feature-pose.hh:30
dg::SignalPtr< Matrix, int > jbJjb
Jacobian of the input Joint B, expressed in Joint B
Definition: feature-pose.hh:84
static Flags selectRX(void)
Definition: feature-pose.hh:144
const SOT_CORE_EXPORT Flags FLAG_LINE_4
#define SOT_CORE_DLLAPI
Definition: config.hh:64
Eigen::Matrix< double, 7, 1 > SOT_CORE_EXPORT Vector7
Definition: matrix-geometry.hh:83
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
dg::SignalPtr< MatrixHomogeneous, int > jaMfa
Input pose of Frame A wrt to Joint A.
Definition: feature-pose.hh:76
dg::SignalPtr< Matrix, int > jaJja
Jacobian of the input Joint A, expressed in Joint A
Definition: feature-pose.hh:82
const SOT_CORE_EXPORT Flags FLAG_LINE_2
const SOT_CORE_EXPORT Flags FLAG_LINE_1