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10 #ifndef __SOT_FEATURE_JOINTLIMITS_HH__
11 #define __SOT_FEATURE_JOINTLIMITS_HH__
26 #if defined(feature_joint_limits_EXPORTS)
27 #define SOTFEATUREJOINTLIMITS_EXPORT __declspec(dllexport)
29 #define SOTFEATUREJOINTLIMITS_EXPORT __declspec(dllimport)
32 #define SOTFEATUREJOINTLIMITS_EXPORT
53 virtual const std::string &
getClassName(
void)
const {
return CLASS_NAME; }
85 virtual unsigned int &getDimension(
unsigned int &dim,
int time);
87 virtual dg::Vector &computeError(dg::Vector &res,
int time);
88 virtual dg::Matrix &computeJacobian(dg::Matrix &res,
int time);
89 dg::Vector &computeWidthJl(dg::Vector &res,
const int &time);
92 inline static Flags selectActuated(
void);
94 virtual void display(std::ostream &os)
const;
100 #endif // #ifndef __SOT_FEATURE_JOINTLIMITS_HH__
virtual const std::string & getClassName(void) const
Returns the name class.
Definition: feature-joint-limits.hh:53
SignalTimeDependent< dg::Matrix, int > jacobianSOUT
Jacobian of the error wrt the robot state: .
Definition: feature-abstract.hh:190
virtual ~FeatureJointLimits(void)
Definition: feature-joint-limits.hh:83
Definition: feature-abstract.hh:225
Definition: abstract-sot-external-interface.hh:17
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
This class gives the abstract definition of a feature.
Definition: feature-abstract.hh:76
Class that defines gradient vector for jl avoidance.
Definition: feature-joint-limits.hh:47
dg::SignalPtr< dg::Vector, int > jointSIN
Definition: feature-joint-limits.hh:65
dg::SignalTimeDependent< dg::Vector, int > widthJlSINTERN
Definition: feature-joint-limits.hh:68
#define SOTFEATUREJOINTLIMITS_EXPORT
Definition: feature-joint-limits.hh:32
dg::SignalPtr< dg::Vector, int > upperJlSIN
Definition: feature-joint-limits.hh:66
double threshold
Definition: feature-joint-limits.hh:56
const static double THRESHOLD_DEFAULT
Definition: feature-joint-limits.hh:57
dg::SignalPtr< dg::Vector, int > lowerJlSIN
Definition: feature-joint-limits.hh:67
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 const std::string CLASS_NAME
Definition: feature-joint-limits.hh:52