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Model2DRigidChain Class Reference

A 2D kinematic chain of bodies. More...

#include <model2d.h>

Inheritance diagram for Model2DRigidChain:

Model2DRigid Model2D Model List of all members.

Public Methods

 Model2DRigidChain (string path)
virtual ~Model2DRigidChain ()
virtual MSLVector StateToConfiguration (const MSLVector &x)
 A method that converts a Model state in to a Geom configuration. More...

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


Public Attributes

int NumBodies
 Number of bodies in the chain. More...

MSLVector A
 The distances between joints ("a" parameters in kinematics). More...

double StopAngle
 The default joint limits (must be in 0,PI). More...

Detailed Description

A 2D kinematic chain of bodies.

Constructor & Destructor Documentation

Model2DRigidChain::Model2DRigidChain (  string    path ) 
 

virtual Model2DRigidChain::~Model2DRigidChain (    )  [inline, virtual]
 

Member Function Documentation

double Model2DRigidChain::Metric (  const MSLVector &    x1,
const MSLVector &    x2
)  [virtual]
 

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

Reimplemented from Model2DRigid.

bool Model2DRigidChain::Satisfied (  const MSLVector &    x )  [virtual]
 

Test whether global state-space constraints are satisfied.

Reimplemented from Model.

MSLVector Model2DRigidChain::StateToConfiguration (  const MSLVector &    x )  [virtual]
 

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

Reimplemented from Model2DRigid.

MSLVector Model2DRigidChain::StateTransitionEquation (  const MSLVector &    x,
const MSLVector &    u
)  [virtual]
 

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

Reimplemented from Model2DRigid.

Member Data Documentation

MSLVector Model2DRigidChain::A
 

The distances between joints ("a" parameters in kinematics).

int Model2DRigidChain::NumBodies
 

Number of bodies in the chain.

double Model2DRigidChain::StopAngle
 

The default joint limits (must be in 0,PI).

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

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