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Model2DRigidCarSmooth Class Reference

A rigid car-like robot with continuous steering angles This model is used by Th. Fraichard, Scheuer, Laugier. More...

#include <model2d.h>

Inheritance diagram for Model2DRigidCarSmooth::

Model2DRigidCar Model2DRigid Model2D Model Model2DRigidCarSmoothTrailer Model2DRigidCarSmooth2Trailers Model2DRigidCarSmooth3Trailers List of all members.

Public Methods

 Model2DRigidCarSmooth (string path)
virtual ~Model2DRigidCarSmooth ()
virtual MSLVector StateTransitionEquation (const MSLVector &x, const MSLVector &u)
 The state transition equation, or equations of motion, xdot=f(x,u).

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

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.

virtual bool Satisfied (const MSLVector &x)
 Test whether global state-space constraints are satisfied.


Public Attributes

double SteeringSpeed

Detailed Description

A rigid car-like robot with continuous steering angles This model is used by Th. Fraichard, Scheuer, Laugier.

Constructor & Destructor Documentation

Model2DRigidCarSmooth::Model2DRigidCarSmooth ( string path )
 

Model2DRigidCarSmooth::~Model2DRigidCarSmooth ( ) [inline, virtual]
 

Member Function Documentation

MSLVector Model2DRigidCarSmooth::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 Model2DRigid.

virtual double Model2DRigidCarSmooth::Metric ( const MSLVector & x1,
const MSLVector & x2 ) [virtual]
 

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

Reimplemented from Model2DRigid.

Reimplemented in Model2DRigidCarSmoothTrailer, Model2DRigidCarSmooth2Trailers, and Model2DRigidCarSmooth3Trailers.

virtual bool Model2DRigidCarSmooth::Satisfied ( const MSLVector & x ) [virtual]
 

Test whether global state-space constraints are satisfied.

Reimplemented from Model.

Reimplemented in Model2DRigidCarSmoothTrailer, Model2DRigidCarSmooth2Trailers, and Model2DRigidCarSmooth3Trailers.

virtual MSLVector Model2DRigidCarSmooth::StateToConfiguration ( const MSLVector & x ) [virtual]
 

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

Reimplemented from Model2DRigid.

Reimplemented in Model2DRigidCarSmoothTrailer, Model2DRigidCarSmooth2Trailers, and Model2DRigidCarSmooth3Trailers.

virtual MSLVector Model2DRigidCarSmooth::StateTransitionEquation ( const MSLVector & x,
const MSLVector & u ) [virtual]
 

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

Reimplemented from Model2DRigidCar.

Reimplemented in Model2DRigidCarSmoothTrailer, Model2DRigidCarSmooth2Trailers, and Model2DRigidCarSmooth3Trailers.

Member Data Documentation

double Model2DRigidCarSmooth::SteeringSpeed
 

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.