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Model2DRigid Class Reference

A holonomic rigid robot in a 2D world. More...

#include <model2d.h>

Inheritance diagram for Model2DRigid:

Model2D Model Model2DRigidCar Model2DRigidChain Model2DRigidDyncar Model2DRigidLander Model2DRigidMulti Model2DRigidCarForward Model2DRigidCarSmooth ModelCar Model2DRigidDyncarNtire ModelCarDyn Model2DRigidCarSmoothTrailer ModelCarSmooth ModelCarDynNtire Model2DRigidCarSmooth2Trailers ModelCarDynRollover Model2DRigidCarSmooth3Trailers ModelCarDynSmoothRollover List of all members.

Public Methods

 Model2DRigid (string path)
virtual ~Model2DRigid ()
virtual MSLVector Integrate (const MSLVector &x, const MSLVector &u, const double &h)
 Perform integration from state x, using input u, over time step h. More...

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

MSLVector LinearInterpolate (const MSLVector &x1, const MSLVector &x2, const double &a)
 Linearly interpolate two state while respecting topology. More...

virtual MSLVector StateDifference (const MSLVector &x1, const MSLVector &x2)
 Compute a MSLVector based on x2-x1. In R^n, the states are simply subtracted to make the MSLVector. This method exists to make things work correctly for other state-space topologies. More...

virtual double Metric (const MSLVector &x1, const MSLVector &x2)
 A distance metric, which is Euclidean in the base class. More...

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


Detailed Description

A holonomic rigid robot in a 2D world.


Constructor & Destructor Documentation

Model2DRigid::Model2DRigid string    path
 

virtual Model2DRigid::~Model2DRigid   [inline, virtual]
 


Member Function Documentation

MSLVector Model2DRigid::Integrate const MSLVector   x,
const MSLVector   u,
const double &    h
[virtual]
 

Perform integration from state x, using input u, over time step h.

Implements Model.

Reimplemented in Model2DRigidDyncar.

MSLVector Model2DRigid::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 Model.

Reimplemented in Model2DRigidDyncar.

double Model2DRigid::Metric const MSLVector   x1,
const MSLVector   x2
[virtual]
 

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

Reimplemented from Model.

Reimplemented in Model2DRigidCarSmooth.

MSLVector Model2DRigid::StateDifference const MSLVector   x1,
const MSLVector   x2
[virtual]
 

Compute a MSLVector based on x2-x1. In R^n, the states are simply subtracted to make the MSLVector. This method exists to make things work correctly for other state-space topologies.

Reimplemented from Model.

Reimplemented in Model2DRigidDyncar.

MSLVector Model2DRigid::StateToConfiguration const MSLVector   x [virtual]
 

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

Reimplemented from Model2D.

Reimplemented in Model2DRigidCarSmooth.

MSLVector Model2DRigid::StateTransitionEquation const MSLVector   x,
const MSLVector   u
[virtual]
 

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

Implements Model.

Reimplemented in Model2DRigidCar.


The documentation for this class was generated from the following files: Motion Strategy Library


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