Main Page   Class Hierarchy   Compound List   File List   Compound Members   File Members  

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 point StateToLedaPoint (const vector &x)
 A method that converts a state into a 2D LEDA point.

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

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

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


Public Attributes

matrix A
matrix B

Detailed Description

A linear systems model: xdot = Ax + Bu.


Constructor & Destructor Documentation

ModelLinear::ModelLinear ( string path = "" )
 

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


Member Function Documentation

vector ModelLinear::Integrate ( const vector & x,
const vector & u,
const double & h ) [virtual]
 

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

Reimplemented from Model.

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

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

Reimplemented from Model.

point ModelLinear::StateToLedaPoint ( const vector & x ) [virtual]
 

A method that converts a state into a 2D LEDA point.

Reimplemented from Model.

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

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

Reimplemented from Model.


Member Data Documentation

matrix ModelLinear::A
 

matrix ModelLinear::B
 


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


Web page maintained by Steve LaValle
Partial support provided by NSF CAREER Award IRI-970228 (LaValle), Honda Research, and Iowa State University.
Contributors: Anna Atramentov, Peng Cheng, James Kuffner, Steve LaValle, and Libo Yang.