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| SimpleModel () |
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virtual | ~SimpleModel () |
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::std::size_t | getCollidingBody () const |
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::std::size_t | getFreeQueries () const |
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::std::size_t | getTotalQueries () const |
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virtual bool | isColliding () |
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virtual void | reset () |
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| Model () |
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virtual | ~Model () |
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virtual void | clip (::rl::math::Vector &q) const |
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virtual ::rl::math::Real | distance (const ::rl::math::Vector &q1, const ::rl::math::Vector &q2) const |
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virtual void | forwardForce (const ::rl::math::Vector &tau,::rl::math::Vector &f) const |
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virtual const
::rl::math::Transform & | forwardPosition (const ::std::size_t &i=0) const |
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virtual void | forwardVelocity (const ::rl::math::Vector &qdot,::rl::math::Vector &xdot) const |
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virtual ::rl::sg::Body * | getBody (const ::std::size_t &i) const |
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virtual ::std::size_t | getBodies () const |
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virtual ::rl::math::Vector3 & | getCenter (const ::std::size_t &i) const |
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virtual ::std::size_t | getDof () const |
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virtual const
::rl::math::Transform & | getFrame (const ::std::size_t &i) const |
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virtual const ::rl::math::Matrix & | getJacobian () const |
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virtual ::rl::math::Real | getManipulabilityMeasure () const |
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virtual ::rl::math::Real | getMaximum (const ::std::size_t &i) const |
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virtual ::rl::math::Real | getMinimum (const ::std::size_t &i) const |
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virtual ::std::size_t | getOperationalDof () const |
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virtual void | inverseForce (const ::rl::math::Vector &f,::rl::math::Vector &tau) const |
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virtual ::rl::math::Real | inverseOfTransformedDistance (const ::rl::math::Real &d) const |
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virtual void | inverseVelocity (const ::rl::math::Vector &tdot,::rl::math::Vector &qdot) const |
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virtual void | interpolate (const ::rl::math::Vector &q1, const ::rl::math::Vector &q2, const ::rl::math::Real &alpha,::rl::math::Vector &q) const |
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virtual bool | isSingular () const |
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virtual bool | isValid (const ::rl::math::Vector &q) const |
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virtual ::rl::math::Real | maxDistanceToRectangle (const ::rl::math::Vector &q, const ::rl::math::Vector &min, const ::rl::math::Vector &max) const |
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virtual ::rl::math::Real | minDistanceToRectangle (const ::rl::math::Vector &q, const ::rl::math::Vector &min, const ::rl::math::Vector &max) const |
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virtual ::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 |
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virtual ::rl::math::Real | newDistance (const ::rl::math::Real &dist, const ::rl::math::Real &oldOff, const ::rl::math::Real &newOff, const int &cuttingDimension) const |
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virtual void | setPosition (const ::rl::math::Vector &q) |
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virtual void | step (const ::rl::math::Vector &q1, const ::rl::math::Vector &qdot,::rl::math::Vector &q2) const |
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virtual ::rl::math::Real | transformedDistance (const ::rl::math::Real &d) const |
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virtual ::rl::math::Real | transformedDistance (const ::rl::math::Vector &q1, const ::rl::math::Vector &q2) const |
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virtual void | updateFrames () |
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virtual void | updateJacobian () |
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virtual void | updateJacobianInverse (const ::rl::math::Real &lambda=0.0f, const bool &doSvd=true) |
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