Model2DRigidCarSmooth2Trailers Class Reference

A rigid car-like robot with continuous steering angles and two trailers. More...

#include <model2d.h>

Inheritance diagram for Model2DRigidCarSmooth2Trailers:

Public Methods
	Model2DRigidCarSmooth2Trailers (string path)
virtual	~Model2DRigidCarSmooth2Trailers ()
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	Hitch2Length
double	Hitch2MaxAngle

Detailed Description

A rigid car-like robot with continuous steering angles and two trailers.

Model2DRigidCarSmooth2Trailers::Model2DRigidCarSmooth2Trailers ( string path )

virtual Model2DRigidCarSmooth2Trailers::~Model2DRigidCarSmooth2Trailers ( ) [inline, virtual]

double Model2DRigidCarSmooth2Trailers::Metric ( const MSLVector & x1,

const MSLVector & x2

) [virtual]

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

Reimplemented from Model2DRigidCarSmoothTrailer.
Reimplemented in Model2DRigidCarSmooth3Trailers.

bool Model2DRigidCarSmooth2Trailers::Satisfied ( const MSLVector & x ) [virtual]

Test whether global state-space constraints are satisfied.

Reimplemented from Model2DRigidCarSmoothTrailer.
Reimplemented in Model2DRigidCarSmooth3Trailers.

MSLVector Model2DRigidCarSmooth2Trailers::StateToConfiguration ( const MSLVector & x ) [virtual]

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

Reimplemented from Model2DRigidCarSmoothTrailer.
Reimplemented in Model2DRigidCarSmooth3Trailers.

MSLVector Model2DRigidCarSmooth2Trailers::StateTransitionEquation ( const MSLVector & x,

const MSLVector & u

) [virtual]

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

Reimplemented from Model2DRigidCarSmoothTrailer.
Reimplemented in Model2DRigidCarSmooth3Trailers.

double Model2DRigidCarSmooth2Trailers::Hitch2Length

double Model2DRigidCarSmooth2Trailers::Hitch2MaxAngle

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

Motion Strategy Library

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