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10 #ifndef __SOT_FEATURE_GENERIC_HH__
11 #define __SOT_FEATURE_GENERIC_HH__
26 #if defined(feature_generic_EXPORTS)
27 #define SOTFEATUREGENERIC_EXPORT __declspec(dllexport)
29 #define SOTFEATUREGENERIC_EXPORT __declspec(dllimport)
32 #define SOTFEATUREGENERIC_EXPORT
65 virtual const std::string &
getClassName(
void)
const {
return CLASS_NAME; }
105 virtual unsigned int &getDimension(
unsigned int &dim,
int time);
113 virtual dg::Vector &computeError(dg::Vector &res,
int time);
116 virtual dg::Matrix &computeJacobian(dg::Matrix &res,
int time);
121 virtual void display(std::ostream &os)
const;
133 #endif // #ifndef __SOT_FEATURE_GENERIC_HH__
dg::Vector::Index dimensionDefault
Definition: feature-generic.hh:68
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
virtual const std::string & getClassName(void) const
Definition: feature-generic.hh:65
#define SOTFEATUREGENERIC_EXPORT
Definition: feature-generic.hh:32
Eigen::VectorXd::Index Index
Definition: robot-utils.hh:36
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
Class that defines a generic implementation of the abstract interface for features.
Definition: feature-generic.hh:57
static const std::string CLASS_NAME
Definition: feature-generic.hh:63
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-generic.hh:82
dg::SignalPtr< dg::Vector, int > errorSIN
Input for the error.
Definition: feature-generic.hh:79
virtual ~FeatureGeneric(void)
Default destructor.
Definition: feature-generic.hh:102