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Model2DRigidMulti Class Reference

A collection of free-floating bodies in a 2D world. More...

#include <model2d.h>

Inheritance diagram for Model2DRigidMulti::

Model2DRigid Model2D Model List of all members.

Public Methods

 Model2DRigidMulti (string path)
virtual ~Model2DRigidMulti ()
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 MSLVector LinearInterpolate (const MSLVector &x1, const MSLVector &x2, const double &a)
 Linearly interpolate two state while respecting topology. More...


Public Attributes

int NumBodies
 Number of independent rigid bodies.

Detailed Description

A collection of free-floating bodies in a 2D world.

Constructor & Destructor Documentation

Model2DRigidMulti::Model2DRigidMulti ( string path )
 

Model2DRigidMulti::~Model2DRigidMulti ( ) [inline, virtual]
 

Member Function Documentation

virtual MSLVector Model2DRigidMulti::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 Model2DRigidMulti::Metric ( const MSLVector & x1,
const MSLVector & x2 ) [virtual]
 

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

Reimplemented from Model2DRigid.

virtual MSLVector Model2DRigidMulti::StateToConfiguration ( const MSLVector & x ) [virtual]
 

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

Reimplemented from Model2DRigid.

Member Data Documentation

int Model2DRigidMulti::NumBodies
 

Number of independent rigid bodies.

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.