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Model3DRigid Class Reference

A rigid robot in a 3D world. More...

#include <model3d.h>

Inheritance diagram for Model3DRigid::

Model3D Model Model3DRigidChain Model3DRigidHelical Model3DRigidMulti Model3DRigidTree List of all members.

Public Methods

 Model3DRigid (string path)
virtual ~Model3DRigid ()
virtual MSLVector Integrate (const MSLVector &x, const MSLVector &u, const double &h)
 Perform integration from state x, using input u, over time step h.

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

Detailed Description

A rigid robot in a 3D world.

Constructor & Destructor Documentation

Model3DRigid::Model3DRigid ( string path )
 

Model3DRigid::~Model3DRigid ( ) [inline, virtual]
 

Member Function Documentation

virtual MSLVector Model3DRigid::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 Model.

Reimplemented in Model3DRigidHelical.

virtual MSLVector Model3DRigid::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 Model.

Reimplemented in Model3DRigidMulti, Model3DRigidChain, and Model3DRigidTree.

virtual double Model3DRigid::Metric ( const MSLVector & x1,
const MSLVector & x2 ) [virtual]
 

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

Reimplemented from Model.

Reimplemented in Model3DRigidMulti, Model3DRigidChain, and Model3DRigidTree.

MSLVector Model3DRigid::StateTransitionEquation ( const MSLVector & x,
const MSLVector & u ) [virtual]
 

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

Reimplemented from Model.

Reimplemented in Model3DRigidChain, Model3DRigidTree, and Model3DRigidHelical.

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.