ocra::Feature Class Reference

Feature interface, used by tasks to compute errors and jacobians. More...

#include <Feature.h>

Inheritance diagram for ocra::Feature:

Collaboration diagram for ocra::Feature:

Public Member Functions
virtual	~Feature ()=0
virtual int	getDimension () const =0
virtual const Eigen::MatrixXd &	getSpaceTransform () const =0
virtual const Eigen::VectorXd &	computeEffort (const Feature &featureDes) const =0
virtual const Eigen::VectorXd &	computeAcceleration (const Feature &featureDes) const =0
virtual const Eigen::VectorXd &	computeError (const Feature &featureDes) const =0
virtual const Eigen::VectorXd &	computeErrorDot (const Feature &featureDes) const =0
virtual const Eigen::MatrixXd &	computeJacobian (const Feature &featureDes) const =0
virtual const Eigen::MatrixXd &	computeProjectedMass (const Feature &featureDes) const =0
virtual const Eigen::MatrixXd &	computeProjectedMassInverse (const Feature &featureDes) const =0
virtual const Eigen::VectorXd &	computeEffort () const =0
virtual const Eigen::VectorXd &	computeAcceleration () const =0
virtual const Eigen::VectorXd &	computeError () const =0
virtual const Eigen::VectorXd &	computeErrorDot () const =0
virtual const Eigen::MatrixXd &	computeJacobian () const =0
virtual const Eigen::MatrixXd &	computeProjectedMass () const =0
virtual const Eigen::MatrixXd &	computeProjectedMassInverse () const =0
virtual TaskState	getState () const =0
virtual void	setState (const TaskState &newState)=0
Public Member Functions inherited from ocra::NamedInstance
	NamedInstance (const std::string &name)
const std::string &	getName () const
virtual	~NamedInstance ()

Protected Member Functions
	Feature (const std::string &name)

Detailed Description

Feature interface, used by tasks to compute errors and jacobians.

A feature is associated with a control frame, and computes errors and jacobians related to the frame, or to the 'difference' between the frame and a frame associated to another feature, denoted 'desired feature'. An task can be defined as the error between a feature and a desired feature, and features are therefore key objects to build instances of the Task class.

See the children classes to know the different tasks that can be built.

Concurrent call of computeXXX() and computeXXX(FeatureDes) are not thread-safe by default (most implementations use the same cache).

Definition at line 55 of file Feature.h.

Constructor & Destructor Documentation

ocra::Feature::Feature ( const std::string &  name )

protected

Definition at line 12 of file Feature.cpp.

ocra::Feature::~Feature ( )

pure virtual

Definition at line 17 of file Feature.cpp.

Member Function Documentation

virtual const Eigen::VectorXd& ocra::Feature::computeAcceleration ( const Feature &  featureDes ) const

pure virtual

Implemented in ocra::PartialStateFeature, ocra::FullStateFeature, ocra::ContactConstraintFeature, ocra::DisplacementFeature, ocra::OrientationFeature, ocra::PointContactFeature, and ocra::PositionFeature.

virtual const Eigen::VectorXd& ocra::Feature::computeAcceleration ( ) const

pure virtual

Implemented in ocra::PartialStateFeature, ocra::FullStateFeature, ocra::ContactConstraintFeature, ocra::DisplacementFeature, ocra::OrientationFeature, ocra::PointContactFeature, and ocra::PositionFeature.

virtual const Eigen::VectorXd& ocra::Feature::computeEffort ( const Feature &  featureDes ) const

pure virtual

Implemented in ocra::PartialStateFeature, ocra::FullStateFeature, ocra::ContactConstraintFeature, ocra::DisplacementFeature, ocra::OrientationFeature, ocra::PointContactFeature, and ocra::PositionFeature.

virtual const Eigen::VectorXd& ocra::Feature::computeEffort ( ) const

pure virtual

Implemented in ocra::PartialStateFeature, ocra::FullStateFeature, ocra::ContactConstraintFeature, ocra::DisplacementFeature, ocra::OrientationFeature, ocra::PointContactFeature, and ocra::PositionFeature.

virtual const Eigen::VectorXd& ocra::Feature::computeError ( const Feature &  featureDes ) const

pure virtual

Implemented in ocra::PartialStateFeature, ocra::FullStateFeature, ocra::ContactConstraintFeature, ocra::DisplacementFeature, ocra::OrientationFeature, ocra::PointContactFeature, and ocra::PositionFeature.

virtual const Eigen::VectorXd& ocra::Feature::computeError ( ) const

pure virtual

Implemented in ocra::PartialStateFeature, ocra::FullStateFeature, ocra::ContactConstraintFeature, ocra::DisplacementFeature, ocra::OrientationFeature, ocra::PointContactFeature, and ocra::PositionFeature.

virtual const Eigen::VectorXd& ocra::Feature::computeErrorDot ( const Feature &  featureDes ) const

pure virtual

Implemented in ocra::PartialStateFeature, ocra::FullStateFeature, ocra::ContactConstraintFeature, ocra::DisplacementFeature, ocra::OrientationFeature, ocra::PointContactFeature, and ocra::PositionFeature.

virtual const Eigen::VectorXd& ocra::Feature::computeErrorDot ( ) const

pure virtual

Implemented in ocra::PartialStateFeature, ocra::FullStateFeature, ocra::ContactConstraintFeature, ocra::DisplacementFeature, ocra::OrientationFeature, ocra::PointContactFeature, and ocra::PositionFeature.

virtual const Eigen::MatrixXd& ocra::Feature::computeJacobian ( const Feature &  featureDes ) const

pure virtual

Implemented in ocra::PartialStateFeature, ocra::FullStateFeature, ocra::ContactConstraintFeature, ocra::DisplacementFeature, ocra::OrientationFeature, ocra::PointContactFeature, and ocra::PositionFeature.

virtual const Eigen::MatrixXd& ocra::Feature::computeJacobian ( ) const

pure virtual

Implemented in ocra::PartialStateFeature, ocra::FullStateFeature, ocra::ContactConstraintFeature, ocra::DisplacementFeature, ocra::OrientationFeature, ocra::PointContactFeature, and ocra::PositionFeature.

virtual const Eigen::MatrixXd& ocra::Feature::computeProjectedMass ( const Feature &  featureDes ) const

pure virtual

Implemented in ocra::PartialStateFeature, ocra::FullStateFeature, ocra::ContactConstraintFeature, ocra::DisplacementFeature, ocra::OrientationFeature, ocra::PointContactFeature, and ocra::PositionFeature.

virtual const Eigen::MatrixXd& ocra::Feature::computeProjectedMass ( ) const

pure virtual

Implemented in ocra::PartialStateFeature, ocra::FullStateFeature, ocra::ContactConstraintFeature, ocra::DisplacementFeature, ocra::OrientationFeature, ocra::PointContactFeature, and ocra::PositionFeature.

virtual const Eigen::MatrixXd& ocra::Feature::computeProjectedMassInverse ( const Feature &  featureDes ) const

pure virtual

Implemented in ocra::PartialStateFeature, ocra::FullStateFeature, ocra::ContactConstraintFeature, ocra::DisplacementFeature, ocra::OrientationFeature, ocra::PointContactFeature, and ocra::PositionFeature.

virtual const Eigen::MatrixXd& ocra::Feature::computeProjectedMassInverse ( ) const

pure virtual

Implemented in ocra::PartialStateFeature, ocra::FullStateFeature, ocra::ContactConstraintFeature, ocra::DisplacementFeature, ocra::OrientationFeature, ocra::PointContactFeature, and ocra::PositionFeature.

virtual int ocra::Feature::getDimension ( ) const

pure virtual

Implemented in ocra::PartialStateFeature, ocra::FullStateFeature, ocra::ContactConstraintFeature, ocra::DisplacementFeature, ocra::OrientationFeature, ocra::PointContactFeature, and ocra::PositionFeature.

virtual const Eigen::MatrixXd& ocra::Feature::getSpaceTransform ( ) const

pure virtual

Implemented in ocra::PartialStateFeature, ocra::FullStateFeature, ocra::ContactConstraintFeature, ocra::DisplacementFeature, ocra::OrientationFeature, ocra::PointContactFeature, and ocra::PositionFeature.

virtual TaskState ocra::Feature::getState ( ) const

pure virtual

Implemented in ocra::PartialStateFeature, ocra::FullStateFeature, ocra::ContactConstraintFeature, ocra::DisplacementFeature, ocra::OrientationFeature, ocra::PointContactFeature, and ocra::PositionFeature.

virtual void ocra::Feature::setState ( const TaskState &  newState )

pure virtual

Implemented in ocra::PartialStateFeature, ocra::FullStateFeature, ocra::ContactConstraintFeature, ocra::DisplacementFeature, ocra::OrientationFeature, ocra::PointContactFeature, and ocra::PositionFeature.

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The documentation for this class was generated from the following files:

• Feature.h
• Feature.cpp