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Model3DRigidTree Class Reference

A 3D kinematic tree of bodies that uses DH parameters. More...

#include <model3d.h>

Inheritance diagram for Model3DRigidTree:

Model3DRigid Model3D Model List of all members.

Public Methods

 Model3DRigidTree (string path)
virtual ~Model3DRigidTree ()
virtual MSLVector StateTransitionEquation (const MSLVector &x, const MSLVector &u)
 The state transition equation, or equations of motion, xdot=f(x,u). More...

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

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

vector< int > StateIndices
vector< int > Parents

Detailed Description

A 3D kinematic tree of bodies that uses DH parameters.

A 3D kinematic tree of bodies that uses DH parameters which should be given in a DH file in the following order: Alpha(1,2...), Theta(1,2...), A(1,2...), D(1,2...). Some of these parameters change during the movement, and each of these parameters becomes a state variable. The indices of these parameters should be given in the file StateIndices (i.e., each entry corresponds to a state, and indicates which DH parameter is variable). For each body in the tree, the parent body in the tree should be indicated. This is specified in the file Parents. Each entry in Parents corresponds to a body (the i^th element is Robot i). The first entry is the root (this index is ignored because the root has no parent). The bodies in the tree must be arranged so that the indices in Parents are in nondecrreasing order (corresponding, for example to a depth-first search of the tree).

Constructor & Destructor Documentation

Model3DRigidTree::Model3DRigidTree (  string    path ) 
 

virtual Model3DRigidTree::~Model3DRigidTree (    )  [inline, virtual]
 

Member Function Documentation

double Model3DRigidTree::Metric (  const MSLVector &    x1,
const MSLVector &    x2
)  [virtual]
 

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

Reimplemented from Model3DRigid.

bool Model3DRigidTree::Satisfied (  const MSLVector &    x )  [virtual]
 

Test whether global state-space constraints are satisfied.

Reimplemented from Model.

MSLVector Model3DRigidTree::StateToConfiguration (  const MSLVector &    x )  [virtual]
 

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

Reimplemented from Model.

MSLVector Model3DRigidTree::StateTransitionEquation (  const MSLVector &    x,
const MSLVector &    u
)  [virtual]
 

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

Reimplemented from Model3DRigid.

Member Data Documentation

MSLVector Model3DRigidTree::DH
 

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

int Model3DRigidTree::NumBodies
 

Number of bodies in the tree.

vector<int> Model3DRigidTree::Parents
 

vector<int> Model3DRigidTree::StateIndices
 

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

Web page maintained by Steve LaValle