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10 #ifndef __SOT_FEATURE_VISUALPOINT_HH__
11 #define __SOT_FEATURE_VISUALPOINT_HH__
26 #if defined(feature_visual_point_EXPORTS)
27 #define SOTFEATUREVISUALPOINT_EXPORT __declspec(dllexport)
29 #define SOTFEATUREVISUALPOINT_EXPORT __declspec(dllimport)
32 #define SOTFEATUREVISUALPOINT_EXPORT
53 virtual const std::string &
getClassName(
void)
const {
return CLASS_NAME; }
60 dg::SignalPtr<dg::Vector, int>
xySIN;
63 dg::SignalPtr<double, int>
ZSIN;
76 virtual unsigned int &getDimension(
unsigned int &dim,
int time);
78 virtual dg::Vector &computeError(dg::Vector &res,
int time);
79 virtual dg::Matrix &computeJacobian(dg::Matrix &res,
int time);
85 virtual void display(std::ostream &os)
const;
91 #endif // #ifndef __SOT_FEATURE_VISUALPOINT_HH__
SignalTimeDependent< dg::Matrix, int > jacobianSOUT
Jacobian of the error wrt the robot state: .
Definition: feature-abstract.hh:190
virtual ~FeatureVisualPoint(void)
Definition: feature-visual-point.hh:74
Definition: feature-abstract.hh:225
Definition: abstract-sot-external-interface.hh:17
static const std::string CLASS_NAME
Definition: feature-visual-point.hh:52
dg::SignalPtr< double, int > ZSIN
Definition: feature-visual-point.hh:63
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
dg::SignalPtr< dg::Matrix, int > articularJacobianSIN
Definition: feature-visual-point.hh:64
dg::SignalPtr< dg::Vector, int > xySIN
Definition: feature-visual-point.hh:60
static Flags selectX(void)
Definition: feature-visual-point.hh:82
virtual const std::string & getClassName(void) const
Returns the name class.
Definition: feature-visual-point.hh:53
dg::Matrix L
Definition: feature-visual-point.hh:56
Class that defines 2D visualPoint visual feature.
Definition: feature-visual-point.hh:47
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 Flags selectY(void)
Definition: feature-visual-point.hh:83
const SOT_CORE_EXPORT Flags FLAG_LINE_2
#define SOTFEATUREVISUALPOINT_EXPORT
Definition: feature-visual-point.hh:32
const SOT_CORE_EXPORT Flags FLAG_LINE_1