#include <model2d.h>
Inheritance diagram for Model2DRigid:
Public Methods | |
Model2DRigid (string path) | |
virtual | ~Model2DRigid () |
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). | |
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 vector | StateToConfiguration (const vector &x) |
A method that converts a Model state in to a Geom configuration. |
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Perform integration from state x, using input u, over time step h.
Reimplemented from Model. Reimplemented in Model2DRigidCarSmooth, Model2DRigidDyncar, and Model2DRigidLander. |
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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, Model2DRigidMulti, and Model2DRigidChain. |
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A distance metric, which is Euclidean in the base class.
Reimplemented from Model. Reimplemented in Model2DRigidCarSmooth, Model2DRigidCarSmoothTrailer, Model2DRigidCarSmooth2Trailers, Model2DRigidCarSmooth3Trailers, Model2DRigidDyncar, Model2DRigidLander, Model2DRigidMulti, and Model2DRigidChain. |
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A method that converts a Model state in to a Geom configuration.
Reimplemented from Model2D. Reimplemented in Model2DRigidCarSmooth, Model2DRigidCarSmoothTrailer, Model2DRigidCarSmooth2Trailers, Model2DRigidCarSmooth3Trailers, Model2DRigidDyncar, Model2DRigidLander, Model2DRigidMulti, and Model2DRigidChain. |
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The state transition equation, or equations of motion, xdot=f(x,u).
Reimplemented from Model. Reimplemented in Model2DRigidCar, Model2DRigidCarSmooth, Model2DRigidCarSmoothTrailer, Model2DRigidCarSmooth2Trailers, Model2DRigidCarSmooth3Trailers, Model2DRigidDyncar, Model2DRigidDyncarNtire, Model2DRigidLander, and Model2DRigidChain. |