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ModelNintegrator Class Reference

The "nonholonomic integrator", used by R. Brockett and many others. More...

#include <modelmisc.h>

Inheritance diagram for ModelNintegrator::

Model List of all members.

Public Methods

 ModelNintegrator (string path)
virtual ~ModelNintegrator ()
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

double UBound
double VBound

Detailed Description

The "nonholonomic integrator", used by R. Brockett and many others.

Constructor & Destructor Documentation

ModelNintegrator::ModelNintegrator ( string path )
 

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

Member Function Documentation

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

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

Reimplemented from Model.

virtual MSLVector ModelNintegrator::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

double ModelNintegrator::UBound
 

double ModelNintegrator::VBound
 

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.