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Model2DRigid Class Reference

A holonomic rigid robot in a 2D world. More...

#include <model2d.h>

Inheritance diagram for Model2DRigid::

Model2D Model Model2DRigidCar Model2DRigidChain Model2DRigidDyncar Model2DRigidLander Model2DRigidMulti Model2DRigidCarForward Model2DRigidCarSmooth Model2DRigidDyncarNtire Model2DRigidCarSmoothTrailer Model2DRigidCarSmooth2Trailers Model2DRigidCarSmooth3Trailers List of all members.

Public Methods

 Model2DRigid (string path)
virtual ~Model2DRigid ()
virtual MSLVector Integrate (const MSLVector &x, const MSLVector &u, const double &h)
 Perform integration from state x, using input u, over time step h.

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

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

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

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

Detailed Description

A holonomic rigid robot in a 2D world.

Constructor & Destructor Documentation

Model2DRigid::Model2DRigid ( string path )
 

Model2DRigid::~Model2DRigid ( ) [inline, virtual]
 

Member Function Documentation

virtual MSLVector Model2DRigid::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 Model.

Reimplemented in Model2DRigidCarSmooth, Model2DRigidDyncar, and Model2DRigidLander.

MSLVector Model2DRigid::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 Model2DRigidDyncar, Model2DRigidMulti, and Model2DRigidChain.

virtual double Model2DRigid::Metric ( const MSLVector & x1,
const MSLVector & x2 ) [virtual]
 

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

Reimplemented from Model.

Reimplemented in Model2DRigidCarSmooth, Model2DRigidCarSmoothTrailer, Model2DRigidCarSmooth2Trailers, Model2DRigidCarSmooth3Trailers, Model2DRigidDyncar, Model2DRigidLander, Model2DRigidMulti, and Model2DRigidChain.

virtual MSLVector Model2DRigid::StateToConfiguration ( const MSLVector & x ) [virtual]
 

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

Reimplemented from Model2D.

Reimplemented in Model2DRigidCarSmooth, Model2DRigidCarSmoothTrailer, Model2DRigidCarSmooth2Trailers, Model2DRigidCarSmooth3Trailers, Model2DRigidDyncar, Model2DRigidLander, Model2DRigidMulti, and Model2DRigidChain.

virtual MSLVector Model2DRigid::StateTransitionEquation ( const MSLVector & x,
const MSLVector & u ) [virtual]
 

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

Reimplemented from Model.

Reimplemented in Model2DRigidCar, Model2DRigidCarSmooth, Model2DRigidCarSmoothTrailer, Model2DRigidCarSmooth2Trailers, Model2DRigidCarSmooth3Trailers, Model2DRigidDyncar, Model2DRigidDyncarNtire, Model2DRigidLander, and Model2DRigidChain.

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

Web page maintained by Steve LaValle
Partial support provided by NSF CAREER Award IRI-970228 (LaValle), Honda Research.
Contributors: Anna Atramentov, Peng Cheng, James Kuffner, Steve LaValle, and Libo Yang.