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ModelNintegrator Class Reference

The "nonholonomic integrator", used by R. Brockett and many others. More...

#include <modelmisc.h>

Inheritance diagram for ModelNintegrator:

Model List of all members.

Public Methods

 ModelNintegrator (string path)
virtual ~ModelNintegrator ()
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

double UBound
double VBound

Detailed Description

The "nonholonomic integrator", used by R. Brockett and many others.

Constructor & Destructor Documentation

ModelNintegrator::ModelNintegrator (  string    path ) 
 

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

Member Function Documentation

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

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

Reimplemented from Model.

MSLVector ModelNintegrator::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

double ModelNintegrator::UBound
 

double ModelNintegrator::VBound
 

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

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