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Model3DRigidMulti Class Reference

A collection of free-floating bodies in a 3D world. More...

#include <model3d.h>

Inheritance diagram for Model3DRigidMulti::

Model3DRigid Model3D Model List of all members.

Public Methods

 Model3DRigidMulti (string path)
virtual ~Model3DRigidMulti ()
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...


Public Attributes

int NumBodies

Detailed Description

A collection of free-floating bodies in a 3D world.

Constructor & Destructor Documentation

Model3DRigidMulti::Model3DRigidMulti ( string path )
 

Model3DRigidMulti::~Model3DRigidMulti ( ) [inline, virtual]
 

Member Function Documentation

virtual MSLVector Model3DRigidMulti::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 Model3DRigidMulti::Metric ( const MSLVector & x1,
const MSLVector & x2 ) [virtual]
 

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

Reimplemented from Model3DRigid.

Member Data Documentation

int Model3DRigidMulti::NumBodies
 

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.