#include <model2d.h>
Inheritance diagram for Model2DRigidChain:
Public Methods | |
Model2DRigidChain (string path) | |
virtual | ~Model2DRigidChain () |
virtual vector | StateToConfiguration (const vector &x) |
A method that converts a Model state in to a Geom configuration. | |
virtual vector | StateTransitionEquation (const vector &x, const vector &u) |
The state transition equation, or equations of motion, xdot=f(x,u). | |
virtual vector | LinearInterpolate (const vector &x1, const vector &x2, const double &a) |
Linearly interpolate two state while respecting topology. More... | |
virtual double | Metric (const vector &x1, const vector &x2) |
A distance metric, which is Euclidean in the base class. | |
virtual bool | Satisfied (const vector &x) |
Test whether global state-space constraints are satisfied. | |
Public Attributes | |
int | NumBodies |
Number of bodies in the chain. | |
vector | A |
The distances between joints ("a" parameters in kinematics). | |
double | StopAngle |
The default joint limits (must be in 0,PI). |
|
|
|
|
|
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 Model2DRigid. |
|
A distance metric, which is Euclidean in the base class.
Reimplemented from Model2DRigid. |
|
Test whether global state-space constraints are satisfied.
Reimplemented from Model. |
|
A method that converts a Model state in to a Geom configuration.
Reimplemented from Model2DRigid. |
|
The state transition equation, or equations of motion, xdot=f(x,u).
Reimplemented from Model2DRigid. |
|
The distances between joints ("a" parameters in kinematics).
|
|
Number of bodies in the chain.
|
|
The default joint limits (must be in 0,PI).
|