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Model3DRigid Class Reference

A rigid robot in a 3D world. More...

#include <model3d.h>

Inheritance diagram for Model3DRigid:

Model3D Model Model3DDyn Model3DRigidChain Model3DRigidHelical Model3DRigidMulti Model3DRigidTree List of all members.

Public Methods

 Model3DRigid (string path)
virtual ~Model3DRigid ()
virtual MSLVector Integrate (const MSLVector &x, const MSLVector &u, const double &h)
 Perform integration from state x, using input u, over time step h. More...

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

virtual MSLVector StateDifference (const MSLVector &x1, const MSLVector &x2)
 Compute a MSLVector based on x2-x1. In R^n, the states are simply subtracted to make the MSLVector. This method exists to make things work correctly for other state-space topologies. More...

Detailed Description

A rigid robot in a 3D world.

Constructor & Destructor Documentation

Model3DRigid::Model3DRigid (  string    path ) 
 

virtual Model3DRigid::~Model3DRigid (    )  [inline, virtual]
 

Member Function Documentation

MSLVector Model3DRigid::Integrate (  const MSLVector &    x,
const MSLVector &    u,
const double &    h
)  [virtual]
 

Perform integration from state x, using input u, over time step h.

Implements Model.

Reimplemented in Model3DRigidHelical.

MSLVector Model3DRigid::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 Model.

Reimplemented in Model3DRigidMulti.

double Model3DRigid::Metric (  const MSLVector &    x1,
const MSLVector &    x2
)  [virtual]
 

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

Reimplemented from Model.

Reimplemented in Model3DRigidMulti.

MSLVector Model3DRigid::StateDifference (  const MSLVector &    x1,
const MSLVector &    x2
)  [virtual]
 

Compute a MSLVector based on x2-x1. In R^n, the states are simply subtracted to make the MSLVector. This method exists to make things work correctly for other state-space topologies.

Reimplemented from Model.

Reimplemented in Model3DRigidMulti.

MSLVector Model3DRigid::StateTransitionEquation (  const MSLVector &    x,
const MSLVector &    u
)  [virtual]
 

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

Implements Model.

Reimplemented in Model3DRigidHelical.

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

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