Main Page   Namespace List   Class Hierarchy   Compound List   File List   Compound Members   File Members  

ModelLinear Class Reference

A linear systems model: xdot = Ax + Bu. More...

#include <modelmisc.h>

Inheritance diagram for ModelLinear:

Model List of all members.

Public Methods

 ModelLinear (string path)
virtual ~ModelLinear ()
virtual MSLVector StateToConfiguration (const MSLVector &x)
 A method that converts a Model state in to a Geom configuration. 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 StateTransitionEquation (const MSLVector &x, const MSLVector &u)
 The state transition equation, or equations of motion, xdot=f(x,u). More...


Public Attributes

MSLMatrix A
MSLMatrix B

Detailed Description

A linear systems model: xdot = Ax + Bu.

Constructor & Destructor Documentation

ModelLinear::ModelLinear (  string    path ) 
 

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

Member Function Documentation

MSLVector ModelLinear::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.

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

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

Reimplemented from Model.

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

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

Implements Model.

Member Data Documentation

MSLMatrix ModelLinear::A
 

MSLMatrix ModelLinear::B
 

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

Web page maintained by Steve LaValle