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Model3DRigidMulti Class Reference

A collection of free-floating bodies in a 3D world. More...

#include <model3d.h>

Inheritance diagram for Model3DRigidMulti:

Model3DRigid Model3D Model List of all members.

Public Methods

 Model3DRigidMulti (string path)
virtual ~Model3DRigidMulti ()
virtual double Metric (const MSLVector &x1, const MSLVector &x2)
 A distance metric, which is Euclidean in the base class. More...

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...

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...


Public Attributes

int NumBodies

Detailed Description

A collection of free-floating bodies in a 3D world.

Constructor & Destructor Documentation

Model3DRigidMulti::Model3DRigidMulti (  string    path ) 
 

virtual Model3DRigidMulti::~Model3DRigidMulti (    )  [inline, virtual]
 

Member Function Documentation

MSLVector Model3DRigidMulti::Integrate (  const MSLVector &    x,
const MSLVector &    u,
const double &    h
)  [virtual]
 

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

Reimplemented from Model3DRigid.

MSLVector Model3DRigidMulti::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 Model3DRigid.

double Model3DRigidMulti::Metric (  const MSLVector &    x1,
const MSLVector &    x2
)  [virtual]
 

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

Reimplemented from Model3DRigid.

MSLVector Model3DRigidMulti::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 Model3DRigid.

Member Data Documentation

int Model3DRigidMulti::NumBodies
 

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

Web page maintained by Steve LaValle