Robotics Library  0.6.0
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Public Member Functions
rl::mdl::Metric Class Reference

#include <Metric.h>

Inheritance diagram for rl::mdl::Metric:
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List of all members.

Public Member Functions

 Metric ()
virtual ~Metric ()
void clip (::rl::math::Vector &q) const
Modelclone () const
::rl::math::Real distance (const ::rl::math::Vector &q1, const ::rl::math::Vector &q2) const
void interpolate (const ::rl::math::Vector &q1, const ::rl::math::Vector &q2, const ::rl::math::Real &alpha,::rl::math::Vector &q) const
::rl::math::Real inverseOfTransformedDistance (const ::rl::math::Real &d) const
bool isValid (const ::rl::math::Vector &q) const
::rl::math::Real maxDistanceToRectangle (const ::rl::math::Vector &q, const ::rl::math::Vector &min, const ::rl::math::Vector &max) const
::rl::math::Real minDistanceToRectangle (const ::rl::math::Vector &q, const ::rl::math::Vector &min, const ::rl::math::Vector &max) const
::rl::math::Real minDistanceToRectangle (const ::rl::math::Real &q, const ::rl::math::Real &min, const ::rl::math::Real &max, const ::std::size_t &cuttingDimension) const
::rl::math::Real newDistance (const ::rl::math::Real &dist, const ::rl::math::Real &oldOff, const ::rl::math::Real &newOff, const int &cuttingDimension) const
void step (const ::rl::math::Vector &q1, const ::rl::math::Vector &qdot,::rl::math::Vector &q2) const
::rl::math::Real transformedDistance (const ::rl::math::Real &d) const
::rl::math::Real transformedDistance (const ::rl::math::Vector &q1, const ::rl::math::Vector &q2) const
- Public Member Functions inherited from rl::mdl::Model
 Model ()
virtual ~Model ()
void add (Compound *compound, const Frame *a, const Frame *b)
void add (Frame *frame)
void add (Transform *transform, const Frame *a, const Frame *b)
bool areColliding (const ::std::size_t &i, const ::std::size_t &j) const
void getAcceleration (::rl::math::Vector &qdd) const
::std::size_t getBodies () const
const BodygetBody (const ::std::size_t &i) const
::std::size_t getDof () const
const ::rl::math::TransformgetFrame (const ::std::size_t &i) const
const JointgetJoint (const ::std::size_t &i) const
const ::rl::math::MotionVectorgetOperationalAcceleration (const ::std::size_t &i) const
::std::size_t getOperationalDof () const
const ::rl::math::ForceVectorgetOperationalForce (const ::std::size_t &i) const
const ::rl::math::TransformgetOperationalPosition (const ::std::size_t &i) const
const ::rl::math::MotionVectorgetOperationalVelocity (const ::std::size_t &i) const
const ::std::string & getManufacturer () const
void getMaximum (::rl::math::Vector &max) const
void getMinimum (::rl::math::Vector &min) const
const ::std::string & getName () const
void getPosition (::rl::math::Vector &q) const
void getTorque (::rl::math::Vector &tau) const
void getSpeed (::rl::math::Vector &speed) const
void getVelocity (::rl::math::Vector &qd) const
bool isColliding (const ::std::size_t &i) const
void replace (Compound *compound, Transform *transform)
void replace (Transform *transform, Compound *compound)
void remove (Compound *compound)
void remove (Frame *frame)
void remove (Transform *transform)
void setAcceleration (const ::rl::math::Vector &qdd)
void setManufacturer (const ::std::string &manufacturer)
void setName (const ::std::string &name)
void setOperationalVelocity (const ::std::size_t &i, const ::rl::math::MotionVector &v) const
void setPosition (const ::rl::math::Vector &q)
void setTorque (const ::rl::math::Vector &tau)
void setVelocity (const ::rl::math::Vector &qd)
::rl::math::Transformtool (const ::std::size_t &i=0)
const ::rl::math::Transformtool (const ::std::size_t &i=0) const
virtual void update ()
::rl::math::Transformworld ()
const ::rl::math::Transformworld () const

Additional Inherited Members

- Protected Types inherited from rl::mdl::Model
typedef
::boost::adjacency_list
< ::boost::listS,::boost::listS,::boost::bidirectionalS,::boost::property
< ::boost::vertex_color_t,
Compound *,::boost::shared_ptr
< Frame > >,::boost::property
< ::boost::edge_weight_t,
Compound *,::boost::shared_ptr
< Transform >
>,::boost::no_property,::boost::listS > 
Tree
typedef ::boost::graph_traits
< Tree >::edge_descriptor 
Edge
typedef ::boost::graph_traits
< Tree >::edge_iterator 
EdgeIterator
typedef ::std::pair
< EdgeIterator, EdgeIterator
EdgeIteratorPair
typedef ::boost::graph_traits
< Tree >::in_edge_iterator 
InEdgeIterator
typedef ::std::pair
< InEdgeIterator,
InEdgeIterator
InEdgeIteratorPair
typedef ::boost::graph_traits
< Tree >::out_edge_iterator 
OutEdgeIterator
typedef ::std::pair
< OutEdgeIterator,
OutEdgeIterator
OutEdgeIteratorPair
typedef ::boost::graph_traits
< Tree >::vertex_descriptor 
Vertex
typedef ::boost::graph_traits
< Tree >::vertex_iterator 
VertexIterator
typedef ::std::pair
< VertexIterator,
VertexIterator
VertexIteratorPair
- Protected Member Functions inherited from rl::mdl::Model
void update (const Vertex &u)
- Protected Attributes inherited from rl::mdl::Model
::std::vector< Body * > bodies
::std::vector< Element * > elements
::std::vector< Frame * > frames
::std::vector< Joint * > joints
::std::vector< Vertexleaves
::std::string manufacturer
::std::string name
Vertex root
::std::vector< Edgetools
::std::vector< Transform * > transforms
Tree tree

Constructor & Destructor Documentation

rl::mdl::Metric::Metric ( )
rl::mdl::Metric::~Metric ( )
virtual

Member Function Documentation

void rl::mdl::Metric::clip ( ::rl::math::Vector q) const
Model * rl::mdl::Metric::clone ( ) const

Reimplemented from rl::mdl::Model.

Reimplemented in rl::mdl::Dynamic, and rl::mdl::Kinematic.

rl::math::Real rl::mdl::Metric::distance ( const ::rl::math::Vector q1,
const ::rl::math::Vector q2 
) const
void rl::mdl::Metric::interpolate ( const ::rl::math::Vector q1,
const ::rl::math::Vector q2,
const ::rl::math::Real alpha,
::rl::math::Vector q 
) const
rl::math::Real rl::mdl::Metric::inverseOfTransformedDistance ( const ::rl::math::Real d) const
bool rl::mdl::Metric::isValid ( const ::rl::math::Vector q) const
rl::math::Real rl::mdl::Metric::maxDistanceToRectangle ( const ::rl::math::Vector q,
const ::rl::math::Vector min,
const ::rl::math::Vector max 
) const
rl::math::Real rl::mdl::Metric::minDistanceToRectangle ( const ::rl::math::Vector q,
const ::rl::math::Vector min,
const ::rl::math::Vector max 
) const
rl::math::Real rl::mdl::Metric::minDistanceToRectangle ( const ::rl::math::Real q,
const ::rl::math::Real min,
const ::rl::math::Real max,
const ::std::size_t &  cuttingDimension 
) const
rl::math::Real rl::mdl::Metric::newDistance ( const ::rl::math::Real dist,
const ::rl::math::Real oldOff,
const ::rl::math::Real newOff,
const int &  cuttingDimension 
) const
void rl::mdl::Metric::step ( const ::rl::math::Vector q1,
const ::rl::math::Vector qdot,
::rl::math::Vector q2 
) const
rl::math::Real rl::mdl::Metric::transformedDistance ( const ::rl::math::Real d) const
rl::math::Real rl::mdl::Metric::transformedDistance ( const ::rl::math::Vector q1,
const ::rl::math::Vector q2 
) const

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