Feature.h File Reference

A class hierarchy to compute task errors based on control frames. More...

#include "ocra/control/ControlEnum.h"
#include "ocra/optim/NamedInstance.h"
#include "ocra/control/ControlFrame.h"
#include "ocra/control/Model.h"
#include "ocra/control/FullState.h"
#include "ocra/control/PartialState.h"
#include "ocra/control/TaskState.h"
#include <ocra/util/Macros.h>
#include <Eigen/Lgsm>
#include <boost/shared_ptr.hpp>
#include <boost/noncopyable.hpp>

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Classes
class	ocra::Feature
	Feature interface, used by tasks to compute errors and jacobians. More...
class	ocra::PositionFeature
	Used to build positioning tasks. More...
class	ocra::PointContactFeature
	Used to build point contact tasks. More...
class	ocra::OrientationFeature
	Used to build orientation tasks. More...
class	ocra::DisplacementFeature
	Used to build position/orientation tasks. More...
class	ocra::ContactConstraintFeature
	Used to build contact constraint tasks (null acceleration). More...
class	ocra::FullStateFeature
	Used to build tasks in the manikin configuration space. More...
class	ocra::PartialStateFeature
	Used to build tasks in a partial configuration space. More...

Namespaces
	ocra
	Optimization-based Robot Controller namespace. a library of classes to write and solve optimization problems dedicated to the control of multi-body systems.

Detailed Description

A class hierarchy to compute task errors based on control frames.

Copyright (C) 2010 CEA/DRT/LIST/DTSI/SRCI

Author

Escande Adrien

Evrard Paul

Date

2010/10/03

File history:

Definition in file Feature.h.