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ModelCarDynSmoothRollover Class Reference

One more dimension than ModelCarDynRollover considering the steering angle can only change continuously. More...

#include <modelcar.h>

Inheritance diagram for ModelCarDynSmoothRollover:

ModelCarDynRollover ModelCarDynNtire Model2DRigidDyncarNtire Model2DRigidDyncar Model2DRigid Model2D Model List of all members.

Public Methods

 ModelCarDynSmoothRollover (string path)
virtual ~ModelCarDynSmoothRollover ()
virtual MSLVector StateTransitionEquation (const MSLVector &x1, const MSLVector &u)
 The state transition equation, or equations of motion, xdot=f(x,u). More...

virtual MSLVector StateToConfiguration (const MSLVector &x)
 A method that converts a Model state in to a Geom configuration. More...

virtual double Metric (const MSLVector &x1, const MSLVector &x2)
 A distance metric, which is Euclidean in the base class. More...

virtual MSLVector LinearInterpolate (const MSLVector &x1, const MSLVector &x2, const double &a)
 Linearly interpolate two state while respecting topology. More...

Detailed Description

One more dimension than ModelCarDynRollover considering the steering angle can only change continuously.

Constructor & Destructor Documentation

ModelCarDynSmoothRollover::ModelCarDynSmoothRollover (  string    path ) 
 

virtual ModelCarDynSmoothRollover::~ModelCarDynSmoothRollover (    )  [inline, virtual]
 

Member Function Documentation

MSLVector ModelCarDynSmoothRollover::LinearInterpolate (  const MSLVector &    x1,
const MSLVector &    x2,
const double &    a
)  [virtual]
 

Linearly interpolate two state while respecting topology.

If a=0, then x1 is returned; if a=1, then x2 is returned. All intermediate values of $a \in [0,1]$ yield intermediate states. This method is defined by Model.

Reimplemented from Model2DRigidDyncar.

double ModelCarDynSmoothRollover::Metric (  const MSLVector &    x1,
const MSLVector &    x2
)  [virtual]
 

A distance metric, which is Euclidean in the base class.

Reimplemented from ModelCarDynRollover.

MSLVector ModelCarDynSmoothRollover::StateToConfiguration (  const MSLVector &    x )  [virtual]
 

A method that converts a Model state in to a Geom configuration.

Reimplemented from ModelCarDynRollover.

MSLVector ModelCarDynSmoothRollover::StateTransitionEquation (  const MSLVector &    x1,
const MSLVector &    u
)  [virtual]
 

The state transition equation, or equations of motion, xdot=f(x,u).

Reimplemented from ModelCarDynRollover.

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

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