Public Methods 
 ModelCarDynRollover (string path) 
virtual  ~ModelCarDynRollover () 
int  sgn (double x) 
virtual MSLVector  StateTransitionEquation (const MSLVector &x1, const MSLVector &u) 
 The state transition equation, or equations of motion, xdot=f(x,u). More...

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

virtual MSLVector  Integrate (const MSLVector &x, const MSLVector &u, const double &h) 
 !!!!!!!! It has both the state and the uncontrolled state. More...

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

bool  RollOverFree (const MSLVector &x) 
bool  Satisfied (const MSLVector &x) 
 Test whether global statespace constraints are satisfied. More...

Public Attributes 
double  K 
double  c 
double  Ixx 
double  T 
double  H 
double  H2 
double  Ms 
double  Wn 
double  Fai 
double  x 
bool  IsRollOver 