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Model3DRigidChain Class Reference

A 3D kinematic chain of bodies that uses DH parameters. More...

#include <model3d.h>

Inheritance diagram for Model3DRigidChain::

Model3DRigid Model3D Model List of all members.

Public Methods

 Model3DRigidChain (string path)
virtual ~Model3DRigidChain ()
virtual MSLVector StateTransitionEquation (const MSLVector &x, const MSLVector &u)
 The state transition equation, or equations of motion, xdot=f(x,u).

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...

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

vector<int> StateIndices

Detailed Description

A 3D kinematic chain of bodies that uses DH parameters.

A 3D kinematic chain of bodies that uses DH parameters that should be given in a DH file in the following order: Alpha(1,2...), Theta(1,2...), A(1,2...), D(1,2...). Some of these parameters change during the movement, and each of these parameters becomes a state variable. The indices of these parameters should be given in the file StateIndices (i.e., each entry corresponds to a state, and indicates which DH parameter is variable).

Constructor & Destructor Documentation

Model3DRigidChain::Model3DRigidChain ( string path )
 

Model3DRigidChain::~Model3DRigidChain ( ) [inline, virtual]
 

Member Function Documentation

virtual MSLVector Model3DRigidChain::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 Model3DRigid.

virtual double Model3DRigidChain::Metric ( const MSLVector & x1,
const MSLVector & x2 ) [virtual]
 

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

Reimplemented from Model3DRigid.

virtual bool Model3DRigidChain::Satisfied ( const MSLVector & x ) [virtual]
 

Test whether global state-space constraints are satisfied.

Reimplemented from Model.

virtual MSLVector Model3DRigidChain::StateToConfiguration ( const MSLVector & x ) [virtual]
 

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

Reimplemented from Model.

virtual MSLVector Model3DRigidChain::StateTransitionEquation ( const MSLVector & x,
const MSLVector & u ) [virtual]
 

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

Reimplemented from Model3DRigid.

Member Data Documentation

MSLVector Model3DRigidChain::DH
 

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

int Model3DRigidChain::NumBodies
 

Number of bodies in the chain.

vector<int> Model3DRigidChain::StateIndices
 

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.