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10 #ifndef __SOT_FEATURE_ABSTRACT_H__
11 #define __SOT_FEATURE_ABSTRACT_H__
18 #include <dynamic-graph/linear-algebra.h>
24 #include <dynamic-graph/all-signals.h>
25 #include <dynamic-graph/entity.h>
82 virtual const std::string &
getClassName(
void)
const {
return CLASS_NAME; }
85 void featureRegistration(
void);
87 void initCommands(
void);
104 virtual unsigned int &getDimension(
unsigned int &res,
int time) = 0;
113 getDimension(res, time);
122 return dimensionSOUT.accessCopy();
140 virtual dg::Vector &computeError(dg::Vector &res,
int time) = 0;
147 virtual dg::Matrix &computeJacobian(dg::Matrix &res,
int time) = 0;
153 virtual dg::Vector &computeErrorDot(dg::Vector &res,
int time);
197 virtual std::ostream &writeGraph(std::ostream &os)
const;
216 virtual void addDependenciesFromReference(
void) = 0;
217 virtual void removeDependenciesFromReference(
void) = 0;
220 void setReferenceByName(
const std::string &name);
221 std::string getReferenceByName(
void)
const;
226 FeatureSpecialized *ptr;
240 template <
class FeatureSpecialized>
243 ptr =
dynamic_cast<FeatureSpecialized *
>(sdes);
247 #define DECLARE_REFERENCE_FUNCTIONS(FeatureSpecialized) \
248 typedef FeatureReferenceHelper<FeatureSpecialized> SP; \
249 virtual void setReference(FeatureAbstract *sdes) { \
250 if (sdes == NULL) { \
252 if (SP::isReferenceSet()) \
253 removeDependenciesFromReference(); \
254 SP::unsetReference(); \
257 SP::setReference(sdes); \
258 if (SP::isReferenceSet()) \
259 addDependenciesFromReference(); \
262 virtual const FeatureAbstract *getReferenceAbstract(void) const { \
263 return SP::getReference(); \
265 virtual FeatureAbstract *getReferenceAbstract(void) { \
266 return (FeatureAbstract *)SP::getReference(); \
268 bool isReferenceSet(void) const { return SP::isReferenceSet(); } \
269 virtual void addDependenciesFromReference(void); \
270 virtual void removeDependenciesFromReference(void)
273 #define DECLARE_NO_REFERENCE \
274 virtual void setReference(FeatureAbstract *) {} \
275 virtual const FeatureAbstract *getReferenceAbstract(void) const { \
278 virtual FeatureAbstract *getReferenceAbstract(void) { return NULL; } \
279 virtual void addDependenciesFromReference(void) {} \
280 virtual void removeDependenciesFromReference(void) {} \
287 #endif // #ifndef __SOT_FEATURE_ABSTRACT_H__
unsigned int getDimension(void) const
Shortest method.
Definition: feature-abstract.hh:121
SignalTimeDependent< dg::Matrix, int > jacobianSOUT
Jacobian of the error wrt the robot state: .
Definition: feature-abstract.hh:190
#define SOT_CORE_EXPORT
Definition: api.hh:20
virtual ~FeatureAbstract(void)
Default destructor.
Definition: feature-abstract.hh:93
static const std::string CLASS_NAME
Store the name of the class.
Definition: feature-abstract.hh:79
Definition: feature-abstract.hh:225
Definition: abstract-sot-external-interface.hh:17
FeatureSpecialized * getReference(void)
Definition: feature-abstract.hh:236
SignalTimeDependent< dg::Vector, int > errordotSOUT
Derivative of the error with respect to time: .
Definition: feature-abstract.hh:186
virtual const std::string & getClassName(void) const
Returns the name class.
Definition: feature-abstract.hh:82
SignalTimeDependent< dg::Vector, int > errorSOUT
This signal returns the error between the desired value and the current value : .
Definition: feature-abstract.hh:182
virtual SignalTimeDependent< dg::Vector, int > & getErrorDot()
Definition: feature-abstract.hh:199
virtual void unsetReference(void)
Definition: feature-abstract.hh:211
This class gives the abstract definition of a feature.
Definition: feature-abstract.hh:76
void setReference(FeatureAbstract *sdes)
Definition: feature-abstract.hh:241
unsigned int getDimension(int time)
Short method.
Definition: feature-abstract.hh:111
FeatureReferenceHelper(void)
Definition: feature-abstract.hh:230
SignalPtr< dg::Vector, int > errordotSIN
Derivative of the reference value.
Definition: feature-abstract.hh:173
void unsetReference(void)
Definition: feature-abstract.hh:234
const FeatureSpecialized * getReference(void) const
Definition: feature-abstract.hh:237
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
virtual bool isReferenceSet(void) const
Definition: feature-abstract.hh:214
SignalTimeDependent< unsigned int, int > dimensionSOUT
Returns the dimension of the feature as an output signal.
Definition: feature-abstract.hh:193
bool isReferenceSet(void) const
Definition: feature-abstract.hh:235