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10 #ifndef __SOT_FEATURE_LINEDISTANCE_HH__
11 #define __SOT_FEATURE_LINEDISTANCE_HH__
26 #if defined(feature_line_distance_EXPORTS)
27 #define SOTFEATURELINEDISTANCE_EXPORT __declspec(dllexport)
29 #define SOTFEATURELINEDISTANCE_EXPORT __declspec(dllimport)
32 #define SOTFEATURELINEDISTANCE_EXPORT
52 virtual const std::string &
getClassName(
void)
const {
return CLASS_NAME; }
61 dg::SignalTimeDependent<dg::Vector, int>
lineSOUT;
77 virtual unsigned int &getDimension(
unsigned int &dim,
int time);
79 virtual dg::Vector &computeError(dg::Vector &res,
int time);
80 virtual dg::Matrix &computeJacobian(dg::Matrix &res,
int time);
81 dg::Vector &computeLineCoordinates(dg::Vector &cood,
int time);
83 virtual void display(std::ostream &os)
const;
89 #endif // #ifndef __SOT_FEATURE_LINEDISTANCE_HH__
SignalTimeDependent< dg::Matrix, int > jacobianSOUT
Jacobian of the error wrt the robot state: .
Definition: feature-abstract.hh:190
virtual ~FeatureLineDistance(void)
Definition: feature-line-distance.hh:75
dg::SignalPtr< dg::Vector, int > vectorSIN
Definition: feature-line-distance.hh:60
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
static const std::string CLASS_NAME
Definition: feature-line-distance.hh:51
This class gives the abstract definition of a feature.
Definition: feature-abstract.hh:76
Class that defines point-3d control feature.
Definition: feature-line-distance.hh:47
dg::SignalPtr< MatrixHomogeneous, int > positionSIN
Definition: feature-line-distance.hh:57
#define SOTFEATURELINEDISTANCE_EXPORT
Definition: feature-line-distance.hh:32
DECLARE_NO_REFERENCE
Definition: feature-line-distance.hh:70
dg::SignalPtr< dg::Matrix, int > articularJacobianSIN
Definition: feature-line-distance.hh:58
dg::SignalTimeDependent< dg::Vector, int > lineSOUT
Definition: feature-line-distance.hh:61
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 const std::string & getClassName(void) const
Returns the name class.
Definition: feature-line-distance.hh:52
dg::SignalPtr< dg::Vector, int > positionRefSIN
Definition: feature-line-distance.hh:59