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

Model2DRigidCarSmoothTrailer Class Reference

A rigid car-like robot with continuous steering angles and a trailer. The trailer models are taken from Murray and Sastry, Trans. Automatic Control, Vol 38, No 5, 1993, pp. 700-716. More...

#include <model2d.h>

Inheritance diagram for Model2DRigidCarSmoothTrailer::

Model2DRigidCarSmooth Model2DRigidCar Model2DRigid Model2D Model Model2DRigidCarSmooth2Trailers Model2DRigidCarSmooth3Trailers List of all members.

Public Methods

 Model2DRigidCarSmoothTrailer (string path)
virtual ~Model2DRigidCarSmoothTrailer ()
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 HitchLength
double HitchMaxAngle

Detailed Description

A rigid car-like robot with continuous steering angles and a trailer. The trailer models are taken from Murray and Sastry, Trans. Automatic Control, Vol 38, No 5, 1993, pp. 700-716.

Constructor & Destructor Documentation

Model2DRigidCarSmoothTrailer::Model2DRigidCarSmoothTrailer ( string path )
 

Model2DRigidCarSmoothTrailer::~Model2DRigidCarSmoothTrailer ( ) [inline, virtual]
 

Member Function Documentation

virtual double Model2DRigidCarSmoothTrailer::Metric ( const MSLVector & x1,
const MSLVector & x2 ) [virtual]
 

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

Reimplemented from Model2DRigidCarSmooth.

Reimplemented in Model2DRigidCarSmooth2Trailers, and Model2DRigidCarSmooth3Trailers.

virtual bool Model2DRigidCarSmoothTrailer::Satisfied ( const MSLVector & x ) [virtual]
 

Test whether global state-space constraints are satisfied.

Reimplemented from Model2DRigidCarSmooth.

Reimplemented in Model2DRigidCarSmooth2Trailers, and Model2DRigidCarSmooth3Trailers.

virtual MSLVector Model2DRigidCarSmoothTrailer::StateToConfiguration ( const MSLVector & x ) [virtual]
 

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

Reimplemented from Model2DRigidCarSmooth.

Reimplemented in Model2DRigidCarSmooth2Trailers, and Model2DRigidCarSmooth3Trailers.

virtual MSLVector Model2DRigidCarSmoothTrailer::StateTransitionEquation ( const MSLVector & x,
const MSLVector & u ) [virtual]
 

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

Reimplemented from Model2DRigidCarSmooth.

Reimplemented in Model2DRigidCarSmooth2Trailers, and Model2DRigidCarSmooth3Trailers.

Member Data Documentation

double Model2DRigidCarSmoothTrailer::HitchLength
 

double Model2DRigidCarSmoothTrailer::HitchMaxAngle
 

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.