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Model2DRigidCarSmooth3Trailers Class Reference

A rigid car-like robot with continuous steering angles and three trailers. More...

#include <model2d.h>

Inheritance diagram for Model2DRigidCarSmooth3Trailers::

Model2DRigidCarSmooth2Trailers Model2DRigidCarSmoothTrailer Model2DRigidCarSmooth Model2DRigidCar Model2DRigid Model2D Model List of all members.

Public Methods

 Model2DRigidCarSmooth3Trailers (string path)
virtual ~Model2DRigidCarSmooth3Trailers ()
virtual MSLVector StateTransitionEquation (const MSLVector &x, const MSLVector &u)
 The state transition equation, or equations of motion, xdot=f(x,u).

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 Hitch3Length
double Hitch3MaxAngle

Detailed Description

A rigid car-like robot with continuous steering angles and three trailers.

Constructor & Destructor Documentation

Model2DRigidCarSmooth3Trailers::Model2DRigidCarSmooth3Trailers ( string path )
 

Model2DRigidCarSmooth3Trailers::~Model2DRigidCarSmooth3Trailers ( ) [inline, virtual]
 

Member Function Documentation

virtual double Model2DRigidCarSmooth3Trailers::Metric ( const MSLVector & x1,
const MSLVector & x2 ) [virtual]
 

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

Reimplemented from Model2DRigidCarSmooth2Trailers.

virtual bool Model2DRigidCarSmooth3Trailers::Satisfied ( const MSLVector & x ) [virtual]
 

Test whether global state-space constraints are satisfied.

Reimplemented from Model2DRigidCarSmooth2Trailers.

virtual MSLVector Model2DRigidCarSmooth3Trailers::StateToConfiguration ( const MSLVector & x ) [virtual]
 

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

Reimplemented from Model2DRigidCarSmooth2Trailers.

virtual MSLVector Model2DRigidCarSmooth3Trailers::StateTransitionEquation ( const MSLVector & x,
const MSLVector & u ) [virtual]
 

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

Reimplemented from Model2DRigidCarSmooth2Trailers.

Member Data Documentation

double Model2DRigidCarSmooth3Trailers::Hitch3Length
 

double Model2DRigidCarSmooth3Trailers::Hitch3MaxAngle
 

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.