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Model2DRigidCarSmoothTrailer Class Reference

A rigid car-like robot with continuous steering angles and a trailer. The trailer models are taken from Murray and Sastry, Trans. Automatic Control, Vol 38, No 5, 1993, pp. 700-716. More...

#include <model2d.h>

Inheritance diagram for Model2DRigidCarSmoothTrailer:

Model2DRigidCarSmooth Model2DRigidCar Model2DRigid Model2D Model Model2DRigidCarSmooth2Trailers Model2DRigidCarSmooth3Trailers List of all members.

Public Methods

 Model2DRigidCarSmoothTrailer (string path)
virtual ~Model2DRigidCarSmoothTrailer ()
virtual MSLVector StateTransitionEquation (const MSLVector &x, const MSLVector &u)
 The state transition equation, or equations of motion, xdot=f(x,u). 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...

virtual bool Satisfied (const MSLVector &x)
 Test whether global state-space constraints are satisfied. More...


Public Attributes

double HitchLength
double HitchMaxAngle

Detailed Description

A rigid car-like robot with continuous steering angles and a trailer. The trailer models are taken from Murray and Sastry, Trans. Automatic Control, Vol 38, No 5, 1993, pp. 700-716.

Constructor & Destructor Documentation

Model2DRigidCarSmoothTrailer::Model2DRigidCarSmoothTrailer (  string    path ) 
 

virtual Model2DRigidCarSmoothTrailer::~Model2DRigidCarSmoothTrailer (    )  [inline, virtual]
 

Member Function Documentation

double Model2DRigidCarSmoothTrailer::Metric (  const MSLVector &    x1,
const MSLVector &    x2
)  [virtual]
 

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

Reimplemented from Model2DRigidCarSmooth.

Reimplemented in Model2DRigidCarSmooth2Trailers.

bool Model2DRigidCarSmoothTrailer::Satisfied (  const MSLVector &    x )  [virtual]
 

Test whether global state-space constraints are satisfied.

Reimplemented from Model2DRigidCarSmooth.

Reimplemented in Model2DRigidCarSmooth2Trailers.

MSLVector Model2DRigidCarSmoothTrailer::StateToConfiguration (  const MSLVector &    x )  [virtual]
 

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

Reimplemented from Model2DRigidCarSmooth.

Reimplemented in Model2DRigidCarSmooth2Trailers.

MSLVector Model2DRigidCarSmoothTrailer::StateTransitionEquation (  const MSLVector &    x,
const MSLVector &    u
)  [virtual]
 

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

Reimplemented from Model2DRigidCarSmooth.

Reimplemented in Model2DRigidCarSmooth2Trailers.

Member Data Documentation

double Model2DRigidCarSmoothTrailer::HitchLength
 

double Model2DRigidCarSmoothTrailer::HitchMaxAngle
 

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

Web page maintained by Steve LaValle