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Model2DRigidCarSmooth Class Reference

A rigid car-like robot with continuous steering angles This model is used by Th. Fraichard, Scheuer, Laugier. More...

#include <model2d.h>

Inheritance diagram for Model2DRigidCarSmooth:

Model2DRigidCar Model2DRigid Model2D Model Model2DRigidCarSmoothTrailer ModelCarSmooth Model2DRigidCarSmooth2Trailers Model2DRigidCarSmooth3Trailers List of all members.

Public Methods

 Model2DRigidCarSmooth (string path)
virtual ~Model2DRigidCarSmooth ()
virtual MSLVector StateTransitionEquation (const MSLVector &x, const MSLVector &u)
 The state transition equation, or equations of motion, xdot=f(x,u). More...

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

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

virtual bool Satisfied (const MSLVector &x)
 Test whether global state-space constraints are satisfied. More...


Public Attributes

double SteeringSpeed

Detailed Description

A rigid car-like robot with continuous steering angles This model is used by Th. Fraichard, Scheuer, Laugier.

Constructor & Destructor Documentation

Model2DRigidCarSmooth::Model2DRigidCarSmooth (  string    path ) 
 

virtual Model2DRigidCarSmooth::~Model2DRigidCarSmooth (    )  [inline, virtual]
 

Member Function Documentation

double Model2DRigidCarSmooth::Metric (  const MSLVector &    x1,
const MSLVector &    x2
)  [virtual]
 

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

Reimplemented from Model2DRigid.

Reimplemented in Model2DRigidCarSmoothTrailer.

bool Model2DRigidCarSmooth::Satisfied (  const MSLVector &    x )  [virtual]
 

Test whether global state-space constraints are satisfied.

Reimplemented from Model.

Reimplemented in Model2DRigidCarSmoothTrailer.

MSLVector Model2DRigidCarSmooth::StateToConfiguration (  const MSLVector &    x )  [virtual]
 

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

Reimplemented from Model2DRigid.

Reimplemented in Model2DRigidCarSmoothTrailer.

MSLVector Model2DRigidCarSmooth::StateTransitionEquation (  const MSLVector &    x,
const MSLVector &    u
)  [virtual]
 

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

Reimplemented from Model2DRigidCar.

Reimplemented in Model2DRigidCarSmoothTrailer.

Member Data Documentation

double Model2DRigidCarSmooth::SteeringSpeed
 

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

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