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Commit 27b4edc1 authored by Olivier Stasse's avatar Olivier Stasse
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Fix dg namespace pb.

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with 131 additions and 152 deletions
cmake @ c333a88d
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Subproject commit 9e21ae2222fdb51dccd1320bb7208f73259b0c73
Subproject commit c333a88decb3e4c0a86947bc6c7f072dc5c5df20
include/sot/core/binary-int-to-uint.hh
+ 3
− 4
View file @ 27b4edc1
......@@ -35,17 +35,16 @@
namespace dynamicgraph {
namespace sot {
namespace dg = dynamicgraph;
class SOTBINARYINTTOUINT_EXPORT BinaryIntToUint : public dg::Entity {
class SOTBINARYINTTOUINT_EXPORT BinaryIntToUint : public dynamicgraph::Entity {
public:
static const std::string CLASS_NAME;
virtual const std::string &getClassName(void) const { return CLASS_NAME; }
/* --- SIGNALS ------------------------------------------------------------ */
public:
dg::SignalPtr<int, int> binaryIntSIN;
dg::SignalTimeDependent<unsigned, int> binaryUintSOUT;
dynamicgraph::SignalPtr<int, int> binaryIntSIN;
dynamicgraph::SignalTimeDependent<unsigned, int> binaryUintSOUT;
public:
BinaryIntToUint(const std::string &name);
......
include/sot/core/clamp-workspace.hh
+ 11
− 13
View file @ 27b4edc1
......@@ -15,7 +15,6 @@
/* Matrix */
#include <dynamic-graph/linear-algebra.h>
namespace dg = dynamicgraph;
/* SOT */
#include <dynamic-graph/all-signals.h>
......@@ -39,24 +38,23 @@ namespace dg = dynamicgraph;
namespace dynamicgraph {
namespace sot {
namespace dg = dynamicgraph;
/* --------------------------------------------------------------------- */
/* --- CLASS ----------------------------------------------------------- */
/* --------------------------------------------------------------------- */
class SOTCLAMPWORKSPACE_EXPORT ClampWorkspace : public dg::Entity {
class SOTCLAMPWORKSPACE_EXPORT ClampWorkspace : public dynamicgraph::Entity {
public:
static const std::string CLASS_NAME;
virtual const std::string &getClassName(void) const { return CLASS_NAME; }
/* --- SIGNALS ------------------------------------------------------------ */
public:
dg::SignalPtr<MatrixHomogeneous, int> positionrefSIN;
dg::SignalPtr<MatrixHomogeneous, int> positionSIN;
dg::SignalTimeDependent<dg::Matrix, int> alphaSOUT;
dg::SignalTimeDependent<dg::Matrix, int> alphabarSOUT;
dg::SignalTimeDependent<MatrixHomogeneous, int> handrefSOUT;
dynamicgraph::SignalPtr<MatrixHomogeneous, int> positionrefSIN;
dynamicgraph::SignalPtr<MatrixHomogeneous, int> positionSIN;
dynamicgraph::SignalTimeDependent<dynamicgraph::Matrix, int> alphaSOUT;
dynamicgraph::SignalTimeDependent<dynamicgraph::Matrix, int> alphabarSOUT;
dynamicgraph::SignalTimeDependent<MatrixHomogeneous, int> handrefSOUT;
public:
ClampWorkspace(const std::string &name);
......@@ -64,8 +62,8 @@ public:
void update(int time);
virtual dg::Matrix &computeOutput(dg::Matrix &res, int time);
virtual dg::Matrix &computeOutputBar(dg::Matrix &res, int time);
virtual dynamicgraph::Matrix &computeOutput(dynamicgraph::Matrix &res, int time);
virtual dynamicgraph::Matrix &computeOutputBar(dynamicgraph::Matrix &res, int time);
virtual MatrixHomogeneous &computeRef(MatrixHomogeneous &res, int time);
virtual void display(std::ostream &) const;
......@@ -73,10 +71,10 @@ public:
private:
int timeUpdate;
dg::Matrix alpha;
dg::Matrix alphabar;
dynamicgraph::Matrix alpha;
dynamicgraph::Matrix alphabar;
MatrixHomogeneous prefMp;
dg::Vector pd;
dynamicgraph::Vector pd;
MatrixRotation Rd;
MatrixHomogeneous handref;
......
include/sot/core/com-freezer.hh
+ 6
− 9
View file @ 27b4edc1
......@@ -16,7 +16,6 @@
/* Matrix */
#include <dynamic-graph/linear-algebra.h>
namespace dg = dynamicgraph;
/* SOT */
#include <dynamic-graph/all-signals.h>
......@@ -39,19 +38,17 @@ namespace dg = dynamicgraph;
namespace dynamicgraph {
namespace sot {
namespace dg = dynamicgraph;
/* --------------------------------------------------------------------- */
/* --- CLASS ----------------------------------------------------------- */
/* --------------------------------------------------------------------- */
class SOTCOMFREEZER_EXPORT CoMFreezer : public dg::Entity {
class SOTCOMFREEZER_EXPORT CoMFreezer : public dynamicgraph::Entity {
public:
static const std::string CLASS_NAME;
virtual const std::string &getClassName() const { return CLASS_NAME; }
private:
dg::Vector m_lastCoM;
dynamicgraph::Vector m_lastCoM;
bool m_previousPGInProcess;
int m_lastStopTime;
......@@ -60,12 +57,12 @@ public: /* --- CONSTRUCTION --- */
virtual ~CoMFreezer(void);
public: /* --- SIGNAL --- */
dg::SignalPtr<dg::Vector, int> CoMRefSIN;
dg::SignalPtr<unsigned, int> PGInProcessSIN;
dg::SignalTimeDependent<dg::Vector, int> freezedCoMSOUT;
dynamicgraph::SignalPtr<dynamicgraph::Vector, int> CoMRefSIN;
dynamicgraph::SignalPtr<unsigned, int> PGInProcessSIN;
dynamicgraph::SignalTimeDependent<dynamicgraph::Vector, int> freezedCoMSOUT;
public: /* --- FUNCTION --- */
dg::Vector &computeFreezedCoM(dg::Vector &freezedCoM, const int &time);
dynamicgraph::Vector &computeFreezedCoM(dynamicgraph::Vector &freezedCoM, const int &time);
public: /* --- PARAMS --- */
virtual void display(std::ostream &os) const;
......
include/sot/core/control-gr.hh
+ 5
− 7
View file @ 27b4edc1
......@@ -16,7 +16,6 @@
/* Matrix */
#include <dynamic-graph/linear-algebra.h>
namespace dg = dynamicgraph;
/* SOT */
#include <dynamic-graph/entity.h>
......@@ -40,7 +39,6 @@ namespace dg = dynamicgraph;
namespace dynamicgraph {
namespace sot {
namespace dg = dynamicgraph;
/* --------------------------------------------------------------------- */
/* --- CLASS ----------------------------------------------------------- */
......@@ -70,14 +68,14 @@ protected:
double _dimension;
public: /* --- SIGNALS --- */
SignalPtr<dg::Matrix, int> matrixASIN;
SignalPtr<dg::Vector, int> accelerationSIN;
SignalPtr<dg::Vector, int> gravitySIN;
SignalTimeDependent<dg::Vector, int> controlSOUT;
SignalPtr<dynamicgraph::Matrix, int> matrixASIN;
SignalPtr<dynamicgraph::Vector, int> accelerationSIN;
SignalPtr<dynamicgraph::Vector, int> gravitySIN;
SignalTimeDependent<dynamicgraph::Vector, int> controlSOUT;
protected:
double &setsize(int dimension);
dg::Vector &computeControl(dg::Vector &tau, int t);
dynamicgraph::Vector &computeControl(dynamicgraph::Vector &tau, int t);
};
} // namespace sot
......
include/sot/core/control-pd.hh
+ 14
− 15
View file @ 27b4edc1
......@@ -16,7 +16,6 @@
/* Matrix */
#include <dynamic-graph/linear-algebra.h>
namespace dg = dynamicgraph;
/* SOT */
#include <dynamic-graph/entity.h>
......@@ -67,22 +66,22 @@ protected:
double TimeStep;
public: /* --- SIGNALS --- */
SignalPtr<dg::Vector, int> KpSIN;
SignalPtr<dg::Vector, int> KdSIN;
SignalPtr<dg::Vector, int> positionSIN;
SignalPtr<dg::Vector, int> desiredpositionSIN;
SignalPtr<dg::Vector, int> velocitySIN;
SignalPtr<dg::Vector, int> desiredvelocitySIN;
SignalTimeDependent<dg::Vector, int> controlSOUT;
SignalTimeDependent<dg::Vector, int> positionErrorSOUT;
SignalTimeDependent<dg::Vector, int> velocityErrorSOUT;
SignalPtr<dynamicgraph::Vector, int> KpSIN;
SignalPtr<dynamicgraph::Vector, int> KdSIN;
SignalPtr<dynamicgraph::Vector, int> positionSIN;
SignalPtr<dynamicgraph::Vector, int> desiredpositionSIN;
SignalPtr<dynamicgraph::Vector, int> velocitySIN;
SignalPtr<dynamicgraph::Vector, int> desiredvelocitySIN;
SignalTimeDependent<dynamicgraph::Vector, int> controlSOUT;
SignalTimeDependent<dynamicgraph::Vector, int> positionErrorSOUT;
SignalTimeDependent<dynamicgraph::Vector, int> velocityErrorSOUT;
protected:
dg::Vector &computeControl(dg::Vector &tau, int t);
dg::Vector position_error_;
dg::Vector velocity_error_;
dg::Vector &getPositionError(dg::Vector &position_error, int t);
dg::Vector &getVelocityError(dg::Vector &velocity_error, int t);
dynamicgraph::Vector &computeControl(dynamicgraph::Vector &tau, int t);
dynamicgraph::Vector position_error_;
dynamicgraph::Vector velocity_error_;
dynamicgraph::Vector &getPositionError(dynamicgraph::Vector &position_error, int t);
dynamicgraph::Vector &getVelocityError(dynamicgraph::Vector &velocity_error, int t);
};
} // namespace sot
......
include/sot/core/derivator-impl.hh
+ 2
− 3
View file @ 27b4edc1
......@@ -33,7 +33,6 @@
namespace dynamicgraph {
namespace sot {
namespace dg = dynamicgraph;
#ifdef WIN32
#define DECLARE_SPECIFICATION(className, sotSigType) \
......@@ -47,8 +46,8 @@ namespace dg = dynamicgraph;
#endif
DECLARE_SPECIFICATION(DerivatorDouble, double)
DECLARE_SPECIFICATION(DerivatorVector, dg::Vector)
DECLARE_SPECIFICATION(DerivatorMatrix, dg::Matrix)
DECLARE_SPECIFICATION(DerivatorVector, dynamicgraph::Vector)
DECLARE_SPECIFICATION(DerivatorMatrix, dynamicgraph::Matrix)
DECLARE_SPECIFICATION(DerivatorVectorQuaternion, VectorQuaternion)
} /* namespace sot */
} /* namespace dynamicgraph */
......
include/sot/core/derivator.hh
+ 5
− 6
View file @ 27b4edc1
......@@ -29,13 +29,12 @@
namespace dynamicgraph {
namespace sot {
namespace dg = dynamicgraph;
/* --------------------------------------------------------------------- */
/* --- CLASS ----------------------------------------------------------- */
/* --------------------------------------------------------------------- */
template <class T> class Derivator : public dg::Entity {
template <class T> class Derivator : public dynamicgraph::Entity {
DYNAMIC_GRAPH_ENTITY_DECL();
protected:
......@@ -48,7 +47,7 @@ public: /* --- CONSTRUCTION --- */
static std::string getTypeName(void) { return "Unknown"; }
Derivator(const std::string &name)
: dg::Entity(name), memory(), initialized(false),
: dynamicgraph::Entity(name), memory(), initialized(false),
timestep(TIMESTEP_DEFAULT),
SIN(NULL, "sotDerivator<" + getTypeName() + ">(" + name + ")::input(" +
getTypeName() + ")::sin"),
......@@ -65,9 +64,9 @@ public: /* --- CONSTRUCTION --- */
virtual ~Derivator(void){};
public: /* --- SIGNAL --- */
dg::SignalPtr<T, int> SIN;
dg::SignalTimeDependent<T, int> SOUT;
dg::Signal<double, int> timestepSIN;
dynamicgraph::SignalPtr<T, int> SIN;
dynamicgraph::SignalTimeDependent<T, int> SOUT;
dynamicgraph::Signal<double, int> timestepSIN;
protected:
T &computeDerivation(T &res, int time) {
......
include/sot/core/device.hh
+ 21
− 21
View file @ 27b4edc1
......@@ -17,7 +17,7 @@
/* -- MaaL --- */
#include <dynamic-graph/linear-algebra.h>
namespace dg = dynamicgraph;
/* SOT */
#include "sot/core/api.hh"
#include "sot/core/periodic-call.hh"
......@@ -55,10 +55,10 @@ public:
};
protected:
dg::Vector state_;
dg::Vector velocity_;
dynamicgraph::Vector state_;
dynamicgraph::Vector velocity_;
bool sanityCheck_;
dg::Vector vel_control_;
dynamicgraph::Vector vel_control_;
ControlInput controlInputType_;
bool withForceSignals[4];
PeriodicCall periodicCallBefore_;
......@@ -81,9 +81,9 @@ public:
virtual ~Device();
virtual void setStateSize(const unsigned int &size);
virtual void setState(const dg::Vector &st);
virtual void setState(const dynamicgraph::Vector &st);
void setVelocitySize(const unsigned int &size);
virtual void setVelocity(const dg::Vector &vel);
virtual void setVelocity(const dynamicgraph::Vector &vel);
virtual void setSecondOrderIntegration();
virtual void setNoIntegration();
virtual void setControlInputType(const std::string &cit);
......@@ -107,20 +107,20 @@ public: /* --- DISPLAY --- */
}
public: /* --- SIGNALS --- */
dynamicgraph::SignalPtr<dg::Vector, int> controlSIN;
dynamicgraph::SignalPtr<dg::Vector, int> attitudeSIN;
dynamicgraph::SignalPtr<dg::Vector, int> zmpSIN;
dynamicgraph::SignalPtr<dynamicgraph::Vector, int> controlSIN;
dynamicgraph::SignalPtr<dynamicgraph::Vector, int> attitudeSIN;
dynamicgraph::SignalPtr<dynamicgraph::Vector, int> zmpSIN;
/// \name Device current state.
/// \{
dynamicgraph::Signal<dg::Vector, int> stateSOUT;
dynamicgraph::Signal<dg::Vector, int> velocitySOUT;
dynamicgraph::Signal<dynamicgraph::Vector, int> stateSOUT;
dynamicgraph::Signal<dynamicgraph::Vector, int> velocitySOUT;
dynamicgraph::Signal<MatrixRotation, int> attitudeSOUT;
/*! \brief The current state of the robot from the command viewpoint. */
dynamicgraph::Signal<dg::Vector, int> motorcontrolSOUT;
dynamicgraph::Signal<dg::Vector, int> previousControlSOUT;
dynamicgraph::Signal<dynamicgraph::Vector, int> motorcontrolSOUT;
dynamicgraph::Signal<dynamicgraph::Vector, int> previousControlSOUT;
/*! \brief The ZMP reference send by the previous controller. */
dynamicgraph::Signal<dg::Vector, int> ZMPPreviousControllerSOUT;
dynamicgraph::Signal<dynamicgraph::Vector, int> ZMPPreviousControllerSOUT;
/// \}
/// \name Real robot current state
......@@ -129,19 +129,19 @@ public: /* --- SIGNALS --- */
/// does *not* match the state control input signal.
/// \{
/// Motor positions
dynamicgraph::Signal<dg::Vector, int> robotState_;
dynamicgraph::Signal<dynamicgraph::Vector, int> robotState_;
/// Motor velocities
dynamicgraph::Signal<dg::Vector, int> robotVelocity_;
dynamicgraph::Signal<dynamicgraph::Vector, int> robotVelocity_;
/// The force torque sensors
dynamicgraph::Signal<dg::Vector, int> *forcesSOUT[4];
dynamicgraph::Signal<dynamicgraph::Vector, int> *forcesSOUT[4];
/// Motor torques
/// \todo why pseudo ?
dynamicgraph::Signal<dg::Vector, int> pseudoTorqueSOUT;
dynamicgraph::Signal<dynamicgraph::Vector, int> pseudoTorqueSOUT;
/// \}
protected:
/// Compute roll pitch yaw angles of freeflyer joint.
void integrateRollPitchYaw(dg::Vector &state, const dg::Vector &control,
void integrateRollPitchYaw(dynamicgraph::Vector &state, const dynamicgraph::Vector &control,
double dt);
/// Store Position of free flyer joint
MatrixHomogeneous ffPose_;
......@@ -164,13 +164,13 @@ protected:
const MatrixHomogeneous &freeFlyerPose() const;
public:
virtual void setRoot(const dg::Matrix &root);
virtual void setRoot(const dynamicgraph::Matrix &root);
virtual void setRoot(const MatrixHomogeneous &worldMwaist);
private:
// Intermediate variable to avoid dynamic allocation
dg::Vector forceZero6;
dynamicgraph::Vector forceZero6;
};
} // namespace sot
} // namespace dynamicgraph
......
include/sot/core/exp-moving-avg.hh
+ 4
− 5
View file @ 27b4edc1
......@@ -18,7 +18,6 @@
#include <dynamic-graph/signal-time-dependent.h>
#include <sot/core/config.hh>
namespace dg = ::dynamicgraph;
namespace dynamicgraph {
namespace sot {
......@@ -35,9 +34,9 @@ class SOT_CORE_DLLAPI ExpMovingAvg : public Entity {
DYNAMIC_GRAPH_ENTITY_DECL();
public:
SignalPtr<dg::Vector, int> updateSIN;
SignalPtr<dynamicgraph::Vector, int> updateSIN;
SignalTimeDependent<int, int> refresherSINTERN;
SignalTimeDependent<dg::Vector, int> averageSOUT;
SignalTimeDependent<dynamicgraph::Vector, int> averageSOUT;
public:
ExpMovingAvg(const std::string &n);
......@@ -46,9 +45,9 @@ public:
void setAlpha(const double &alpha_);
protected:
dg::Vector &update(dg::Vector &res, const int &inTime);
dynamicgraph::Vector &update(dynamicgraph::Vector &res, const int &inTime);
dg::Vector average;
dynamicgraph::Vector average;
double alpha;
bool init;
......
include/sot/core/feature-1d.hh
+ 4
− 5
View file @ 27b4edc1
......@@ -38,7 +38,6 @@
namespace dynamicgraph {
namespace sot {
namespace dg = dynamicgraph;
/*!
\class Feature1D
\brief Simple test: the task is defined to be e_2 = .5 . e'.e, with
......@@ -65,10 +64,10 @@ public:
@{
*/
/*! \brief Input for the error. */
dg::SignalPtr<dg::Vector, int> errorSIN;
dynamicgraph::SignalPtr<dynamicgraph::Vector, int> errorSIN;
/*! \brief Input for the Jacobian. */
dg::SignalPtr<dg::Matrix, int> jacobianSIN;
dynamicgraph::SignalPtr<dynamicgraph::Matrix, int> jacobianSIN;
/*! @} */
......@@ -99,10 +98,10 @@ public:
/*! \brief Compute the error between the desired value and the value itself.
*/
virtual dg::Vector &computeError(dg::Vector &res, int time);
virtual dynamicgraph::Vector &computeError(dynamicgraph::Vector &res, int time);
/*! \brief Compute the Jacobian of the value according to the robot state.. */
virtual dg::Matrix &computeJacobian(dg::Matrix &res, int time);
virtual dynamicgraph::Matrix &computeJacobian(dynamicgraph::Matrix &res, int time);
/*! @} */
......
include/sot/core/feature-joint-limits.hh
+ 7
− 8
View file @ 27b4edc1
......@@ -38,7 +38,6 @@
namespace dynamicgraph {
namespace sot {
namespace dg = dynamicgraph;
/*!
\class FeatureJointLimits
......@@ -62,10 +61,10 @@ protected:
/* --- SIGNALS ------------------------------------------------------------ */
public:
dg::SignalPtr<dg::Vector, int> jointSIN;
dg::SignalPtr<dg::Vector, int> upperJlSIN;
dg::SignalPtr<dg::Vector, int> lowerJlSIN;
dg::SignalTimeDependent<dg::Vector, int> widthJlSINTERN;
dynamicgraph::SignalPtr<dynamicgraph::Vector, int> jointSIN;
dynamicgraph::SignalPtr<dynamicgraph::Vector, int> upperJlSIN;
dynamicgraph::SignalPtr<dynamicgraph::Vector, int> lowerJlSIN;
dynamicgraph::SignalTimeDependent<dynamicgraph::Vector, int> widthJlSINTERN;
using FeatureAbstract::selectionSIN;
......@@ -84,9 +83,9 @@ public:
virtual unsigned int &getDimension(unsigned int &dim, int time);
virtual dg::Vector &computeError(dg::Vector &res, int time);
virtual dg::Matrix &computeJacobian(dg::Matrix &res, int time);
dg::Vector &computeWidthJl(dg::Vector &res, const int &time);
virtual dynamicgraph::Vector &computeError(dynamicgraph::Vector &res, int time);
virtual dynamicgraph::Matrix &computeJacobian(dynamicgraph::Matrix &res, int time);
dynamicgraph::Vector &computeWidthJl(dynamicgraph::Vector &res, const int &time);
/** Static Feature selection. */
inline static Flags selectActuated(void);
......
include/sot/core/feature-line-distance.hh
+ 8
− 9
View file @ 27b4edc1
......@@ -38,7 +38,6 @@
namespace dynamicgraph {
namespace sot {
namespace dg = dynamicgraph;
/*!
\class FeatureLineDistance
......@@ -54,11 +53,11 @@ public:
protected:
/* --- SIGNALS ------------------------------------------------------------ */
public:
dg::SignalPtr<MatrixHomogeneous, int> positionSIN;
dg::SignalPtr<dg::Matrix, int> articularJacobianSIN;
dg::SignalPtr<dg::Vector, int> positionRefSIN;
dg::SignalPtr<dg::Vector, int> vectorSIN;
dg::SignalTimeDependent<dg::Vector, int> lineSOUT;
dynamicgraph::SignalPtr<MatrixHomogeneous, int> positionSIN;
dynamicgraph::SignalPtr<dynamicgraph::Matrix, int> articularJacobianSIN;
dynamicgraph::SignalPtr<dynamicgraph::Vector, int> positionRefSIN;
dynamicgraph::SignalPtr<dynamicgraph::Vector, int> vectorSIN;
dynamicgraph::SignalTimeDependent<dynamicgraph::Vector, int> lineSOUT;
using FeatureAbstract::errorSOUT;
using FeatureAbstract::jacobianSOUT;
......@@ -76,9 +75,9 @@ public:
virtual unsigned int &getDimension(unsigned int &dim, int time);
virtual dg::Vector &computeError(dg::Vector &res, int time);
virtual dg::Matrix &computeJacobian(dg::Matrix &res, int time);
dg::Vector &computeLineCoordinates(dg::Vector &cood, int time);
virtual dynamicgraph::Vector &computeError(dynamicgraph::Vector &res, int time);
virtual dynamicgraph::Matrix &computeJacobian(dynamicgraph::Matrix &res, int time);
dynamicgraph::Vector &computeLineCoordinates(dynamicgraph::Vector &cood, int time);
virtual void display(std::ostream &os) const;
};
......
include/sot/core/feature-point6d-relative.hh
+ 10
− 11
View file @ 27b4edc1
......@@ -40,7 +40,6 @@
namespace dynamicgraph {
namespace sot {
namespace dg = dynamicgraph;
/*!
\class FeaturePoint6dRelative
......@@ -56,23 +55,23 @@ public:
virtual const std::string &getClassName(void) const { return CLASS_NAME; }
protected:
dg::Matrix L;
dynamicgraph::Matrix L;
/* --- SIGNALS ------------------------------------------------------------ */
public:
dg::SignalPtr<MatrixHomogeneous, int> positionReferenceSIN;
dg::SignalPtr<dg::Matrix, int> articularJacobianReferenceSIN;
dynamicgraph::SignalPtr<MatrixHomogeneous, int> positionReferenceSIN;
dynamicgraph::SignalPtr<dynamicgraph::Matrix, int> articularJacobianReferenceSIN;
/*! dg::Signals related to the computation of the derivative of
/*! dynamicgraph::Signals related to the computation of the derivative of
the error
@{ */
/*! dg::Signals giving the derivative of the input signals.
/*! dynamicgraph::Signals giving the derivative of the input signals.
@{*/
/*! Derivative of the relative position. */
dg::SignalPtr<MatrixHomogeneous, int> dotpositionSIN;
dynamicgraph::SignalPtr<MatrixHomogeneous, int> dotpositionSIN;
/*! Derivative of the reference position. */
dg::SignalPtr<MatrixHomogeneous, int> dotpositionReferenceSIN;
dynamicgraph::SignalPtr<MatrixHomogeneous, int> dotpositionReferenceSIN;
/*! @} */
using FeaturePoint6d::getReference;
......@@ -81,9 +80,9 @@ public:
FeaturePoint6dRelative(const std::string &name);
virtual ~FeaturePoint6dRelative(void) {}
virtual dg::Vector &computeError(dg::Vector &res, int time);
virtual dg::Vector &computeErrorDot(dg::Vector &res, int time);
virtual dg::Matrix &computeJacobian(dg::Matrix &res, int time);
virtual dynamicgraph::Vector &computeError(dynamicgraph::Vector &res, int time);
virtual dynamicgraph::Vector &computeErrorDot(dynamicgraph::Vector &res, int time);
virtual dynamicgraph::Matrix &computeJacobian(dynamicgraph::Matrix &res, int time);
virtual void display(std::ostream &os) const;
......
include/sot/core/feature-point6d.hh
+ 6
− 7
View file @ 27b4edc1
......@@ -40,7 +40,6 @@
namespace dynamicgraph {
namespace sot {
namespace dg = dynamicgraph;
/*!
\class FeaturePoint6d
......@@ -71,9 +70,9 @@ private:
/* --- SIGNALS ------------------------------------------------------------ */
public:
dg::SignalPtr<MatrixHomogeneous, int> positionSIN;
dg::SignalPtr<dg::Vector, int> velocitySIN;
dg::SignalPtr<dg::Matrix, int> articularJacobianSIN;
dynamicgraph::SignalPtr<MatrixHomogeneous, int> positionSIN;
dynamicgraph::SignalPtr<dynamicgraph::Vector, int> velocitySIN;
dynamicgraph::SignalPtr<dynamicgraph::Matrix, int> articularJacobianSIN;
using FeatureAbstract::errorSOUT;
using FeatureAbstract::jacobianSOUT;
......@@ -90,9 +89,9 @@ public:
virtual unsigned int &getDimension(unsigned int &dim, int time);
virtual dg::Vector &computeError(dg::Vector &res, int time);
virtual dg::Vector &computeErrordot(dg::Vector &res, int time);
virtual dg::Matrix &computeJacobian(dg::Matrix &res, int time);
virtual dynamicgraph::Vector &computeError(dynamicgraph::Vector &res, int time);
virtual dynamicgraph::Vector &computeErrordot(dynamicgraph::Vector &res, int time);
virtual dynamicgraph::Matrix &computeJacobian(dynamicgraph::Matrix &res, int time);
/** Static Feature selection. */
inline static Flags selectX(void) { return FLAG_LINE_1; }
......
include/sot/core/feature-pose.hh
+ 11
− 12
View file @ 27b4edc1
......@@ -24,7 +24,6 @@
namespace dynamicgraph {
namespace sot {
namespace dg = dynamicgraph;
/// Enum used to specify what difference operation is used in FeaturePose.
enum Representation_t { SE3Representation, R3xSO3Representation };
......@@ -71,23 +70,23 @@ public:
@{
*/
/// Input pose of <em>Joint A</em> wrt to world frame.
dg::SignalPtr<MatrixHomogeneous, int> oMja;
dynamicgraph::SignalPtr<MatrixHomogeneous, int> oMja;
/// Input pose of <em>Frame A</em> wrt to <em>Joint A</em>.
dg::SignalPtr<MatrixHomogeneous, int> jaMfa;
dynamicgraph::SignalPtr<MatrixHomogeneous, int> jaMfa;
/// Input pose of <em>Joint B</em> wrt to world frame.
dg::SignalPtr<MatrixHomogeneous, int> oMjb;
dynamicgraph::SignalPtr<MatrixHomogeneous, int> oMjb;
/// Input pose of <em>Frame B</em> wrt to <em>Joint B</em>.
dg::SignalPtr<MatrixHomogeneous, int> jbMfb;
dynamicgraph::SignalPtr<MatrixHomogeneous, int> jbMfb;
/// Jacobian of the input <em>Joint A</em>, expressed in <em>Joint A</em>
dg::SignalPtr<Matrix, int> jaJja;
dynamicgraph::SignalPtr<Matrix, int> jaJja;
/// Jacobian of the input <em>Joint B</em>, expressed in <em>Joint B</em>
dg::SignalPtr<Matrix, int> jbJjb;
dynamicgraph::SignalPtr<Matrix, int> jbJjb;
/// The desired pose of <em>Frame B</em> wrt to <em>Frame A</em>.
dg::SignalPtr<MatrixHomogeneous, int> faMfbDes;
dynamicgraph::SignalPtr<MatrixHomogeneous, int> faMfbDes;
/// The desired velocity of <em>Frame B</em> wrt to <em>Frame A</em>. The
/// value is expressed in <em>Frame A</em>.
dg::SignalPtr<Vector, int> faNufafbDes;
dynamicgraph::SignalPtr<Vector, int> faNufafbDes;
/*! @} */
/*! \name Output signals
......@@ -121,21 +120,21 @@ public:
virtual unsigned int &getDimension(unsigned int &dim, int time);
/// Computes \f$ {}^oM^{-1}_{fa} {}^oM_{fb} \ominus {}^{fa}M^*_{fb} \f$
virtual dg::Vector &computeError(dg::Vector &res, int time);
virtual dynamicgraph::Vector &computeError(dynamicgraph::Vector &res, int time);
/// Computes \f$ \frac{\partial\ominus}{\partial b} X {}^{fa}\nu^*_{fafb} \f$.
/// There are two different cases, depending on the representation:
/// - R3xSO3Representation: \f$ X = \left( \begin{array}{cc} I_3 & [
/// {}^{fa}t_{fb} ] \\ 0_3 & {{}^{fa}R^*_{fb}}^T \end{array} \right) \f$
/// - SE3Representation: \f$ X = {{}^{fa}X^*_{fb}}^{-1} \f$ (see
/// pinocchio::SE3Base<Scalar,Options>::toActionMatrix)
virtual dg::Vector &computeErrorDot(dg::Vector &res, int time);
virtual dynamicgraph::Vector &computeErrorDot(dynamicgraph::Vector &res, int time);
/// Computes \f$ \frac{\partial\ominus}{\partial b} Y \left( {{}^{fb}X_{jb}}
/// {}^{jb}J_{jb} - {{}^{fb}X_{ja}} {}^{ja}J_{ja} \right) \f$. There are two
/// different cases, depending on the representation:
/// - R3xSO3Representation: \f$ Y = \left( \begin{array}{cc} {{}^{fa}R_{fb}} &
/// 0_3 \\ 0_3 & I_3 \end{array} \right) \f$
/// - SE3Representation: \f$ Y = I_6 \f$
virtual dg::Matrix &computeJacobian(dg::Matrix &res, int time);
virtual dynamicgraph::Matrix &computeJacobian(dynamicgraph::Matrix &res, int time);
/** Static Feature selection. */
inline static Flags selectX(void) { return FLAG_LINE_1; }
......
include/sot/core/feature-task.hh
+ 1
− 1
View file @ 27b4edc1
......@@ -39,7 +39,7 @@
namespace dynamicgraph {
namespace sot {
namespace dg = dynamicgraph;
class SOTFEATURETASK_EXPORT FeatureTask : public FeatureGeneric {
......
include/sot/core/feature-vector3.hh
+ 6
− 7
View file @ 27b4edc1
......@@ -39,7 +39,6 @@
namespace dynamicgraph {
namespace sot {
namespace dg = dynamicgraph;
/*!
\class FeatureVector3
......@@ -56,10 +55,10 @@ public:
protected:
/* --- SIGNALS ------------------------------------------------------------ */
public:
dg::SignalPtr<dg::Vector, int> vectorSIN;
dg::SignalPtr<MatrixHomogeneous, int> positionSIN;
dg::SignalPtr<dg::Matrix, int> articularJacobianSIN;
dg::SignalPtr<dg::Vector, int> positionRefSIN;
dynamicgraph::SignalPtr<dynamicgraph::Vector, int> vectorSIN;
dynamicgraph::SignalPtr<MatrixHomogeneous, int> positionSIN;
dynamicgraph::SignalPtr<dynamicgraph::Matrix, int> articularJacobianSIN;
dynamicgraph::SignalPtr<dynamicgraph::Vector, int> positionRefSIN;
using FeatureAbstract::errorSOUT;
using FeatureAbstract::jacobianSOUT;
......@@ -71,8 +70,8 @@ public:
virtual unsigned int &getDimension(unsigned int &dim, int time);
virtual dg::Vector &computeError(dg::Vector &res, int time);
virtual dg::Matrix &computeJacobian(dg::Matrix &res, int time);
virtual dynamicgraph::Vector &computeError(dynamicgraph::Vector &res, int time);
virtual dynamicgraph::Matrix &computeJacobian(dynamicgraph::Matrix &res, int time);
virtual void display(std::ostream &os) const;
};
......
include/sot/core/feature-visual-point.hh
+ 6
− 7
View file @ 27b4edc1
......@@ -38,7 +38,6 @@
namespace dynamicgraph {
namespace sot {
namespace dg = dynamicgraph;
/*!
\class FeatureVisualPoint
......@@ -53,15 +52,15 @@ public:
virtual const std::string &getClassName(void) const { return CLASS_NAME; }
protected:
dg::Matrix L;
dynamicgraph::Matrix L;
/* --- SIGNALS ------------------------------------------------------------ */
public:
dg::SignalPtr<dg::Vector, int> xySIN;
dynamicgraph::SignalPtr<dynamicgraph::Vector, int> xySIN;
/** FeatureVisualPoint depth (required to compute the interaction matrix)
* default Z = 1m. */
dg::SignalPtr<double, int> ZSIN;
dg::SignalPtr<dg::Matrix, int> articularJacobianSIN;
dynamicgraph::SignalPtr<double, int> ZSIN;
dynamicgraph::SignalPtr<dynamicgraph::Matrix, int> articularJacobianSIN;
using FeatureAbstract::errorSOUT;
using FeatureAbstract::jacobianSOUT;
......@@ -75,8 +74,8 @@ public:
virtual unsigned int &getDimension(unsigned int &dim, int time);
virtual dg::Vector &computeError(dg::Vector &res, int time);
virtual dg::Matrix &computeJacobian(dg::Matrix &res, int time);
virtual dynamicgraph::Vector &computeError(dynamicgraph::Vector &res, int time);
virtual dynamicgraph::Matrix &computeJacobian(dynamicgraph::Matrix &res, int time);
/** Static Feature selection. */
inline static Flags selectX(void) { return FLAG_LINE_1; }
......
include/sot/core/fir-filter.hh
+ 0
− 1
View file @ 27b4edc1
......@@ -21,7 +21,6 @@
#include <dynamic-graph/command-setter.h>
#include <dynamic-graph/entity.h>
namespace dg = dynamicgraph;
namespace dynamicgraph {
namespace sot {
......
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