#include <model3d.h>
Inheritance diagram for Model3DRigidTree::
Public Methods  
Model3DRigidTree (string path)  
virtual  ~Model3DRigidTree () 
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 statespace constraints are satisfied.  
Public Attributes  
int  NumBodies 
Number of bodies in the tree.  
MSLVector  DH 
The distances between joints ("a" parameters in kinematics).  
vector<int>  StateIndices 
vector<int>  Parents 
A 3D kinematic tree of bodies that uses DH parameters which 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). For each body in the tree, the parent body in the tree should be indicated. This is specified in the file Parents. Each entry in Parents corresponds to a body (the i^th element is Robot i). The first entry is the root (this index is ignored because the root has no parent). The bodies in the tree must be arranged so that the indices in Parents are in nondecrreasing order (corresponding, for example to a depthfirst search of the tree).





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. 

A distance metric, which is Euclidean in the base class.
Reimplemented from Model3DRigid. 

Test whether global statespace constraints are satisfied.
Reimplemented from Model. 

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

The state transition equation, or equations of motion, xdot=f(x,u).
Reimplemented from Model3DRigid. 

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


Number of bodies in the tree.




