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Model2DRigidChain Class Reference

A 2D kinematic chain of bodies. More...

#include <model2d.h>

Inheritance diagram for Model2DRigidChain::

Model2DRigid Model2D Model List of all members.

Public Methods

 Model2DRigidChain (string path)
virtual ~Model2DRigidChain ()
virtual MSLVector StateToConfiguration (const MSLVector &x)
 A method that converts a Model state in to a Geom configuration.

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

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


Public Attributes

int NumBodies
 Number of bodies in the chain.

MSLVector A
 The distances between joints ("a" parameters in kinematics).

double StopAngle
 The default joint limits (must be in 0,PI).

Detailed Description

A 2D kinematic chain of bodies.

Constructor & Destructor Documentation

Model2DRigidChain::Model2DRigidChain ( string path )
 

Model2DRigidChain::~Model2DRigidChain ( ) [inline, virtual]
 

Member Function Documentation

virtual MSLVector Model2DRigidChain::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 Model2DRigid.

virtual double Model2DRigidChain::Metric ( const MSLVector & x1,
const MSLVector & x2 ) [virtual]
 

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

Reimplemented from Model2DRigid.

virtual bool Model2DRigidChain::Satisfied ( const MSLVector & x ) [virtual]
 

Test whether global state-space constraints are satisfied.

Reimplemented from Model.

virtual MSLVector Model2DRigidChain::StateToConfiguration ( const MSLVector & x ) [virtual]
 

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

Reimplemented from Model2DRigid.

virtual MSLVector Model2DRigidChain::StateTransitionEquation ( const MSLVector & x,
const MSLVector & u ) [virtual]
 

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

Reimplemented from Model2DRigid.

Member Data Documentation

MSLVector Model2DRigidChain::A
 

The distances between joints ("a" parameters in kinematics).

int Model2DRigidChain::NumBodies
 

Number of bodies in the chain.

double Model2DRigidChain::StopAngle
 

The default joint limits (must be in 0,PI).

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.