Robotics Library
0.6.0
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#include <Metric.h>
Public Member Functions | |
Metric () | |
virtual | ~Metric () |
void | clip (::rl::math::Vector &q) const |
Model * | clone () 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 |
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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 |
Model * | clone () const |
void | getAcceleration (::rl::math::Vector &qdd) const |
::std::size_t | getBodies () const |
const Body * | getBody (const ::std::size_t &i) const |
::std::size_t | getDof () const |
const ::rl::math::Transform & | getFrame (const ::std::size_t &i) const |
const Joint * | getJoint (const ::std::size_t &i) const |
const ::rl::math::MotionVector & | getOperationalAcceleration (const ::std::size_t &i) const |
::std::size_t | getOperationalDof () const |
const ::rl::math::ForceVector & | getOperationalForce (const ::std::size_t &i) const |
const ::rl::math::Transform & | getOperationalPosition (const ::std::size_t &i) const |
const ::rl::math::MotionVector & | getOperationalVelocity (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::Transform & | tool (const ::std::size_t &i=0) |
const ::rl::math::Transform & | tool (const ::std::size_t &i=0) const |
virtual void | update () |
::rl::math::Transform & | world () |
const ::rl::math::Transform & | world () const |
Additional Inherited Members | |
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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 |
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void | update (const Vertex &u) |
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::std::vector< Body * > | bodies |
::std::vector< Element * > | elements |
::std::vector< Frame * > | frames |
::std::vector< Joint * > | joints |
::std::vector< Vertex > | leaves |
::std::string | manufacturer |
::std::string | name |
Vertex | root |
::std::vector< Edge > | tools |
::std::vector< Transform * > | transforms |
Tree | tree |
rl::mdl::Metric::Metric | ( | ) |
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virtual |
void rl::mdl::Metric::clip | ( | ::rl::math::Vector & | q | ) | const |
Model * rl::mdl::Metric::clone | ( | ) | const |
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 |