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ModelLinear Class Reference

A linear systems model: xdot = Ax + Bu. More...

#include <modelmisc.h>

Inheritance diagram for ModelLinear::

Model List of all members.

Public Methods

 ModelLinear (string path)
virtual ~ModelLinear ()
virtual MSLVector StateToConfiguration (const MSLVector &x)
 A method that converts a Model state in to a Geom configuration.

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

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


Public Attributes

MSLMatrix A
MSLMatrix B

Detailed Description

A linear systems model: xdot = Ax + Bu.

Constructor & Destructor Documentation

ModelLinear::ModelLinear ( string path )
 

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

Member Function Documentation

virtual MSLVector ModelLinear::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.

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

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

Reimplemented from Model.

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

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

Reimplemented from Model.

Member Data Documentation

MSLMatrix ModelLinear::A
 

MSLMatrix ModelLinear::B
 

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.