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plan
Model.h
Go to the documentation of this file.
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//
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// Copyright (c) 2009, Markus Rickert
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// All rights reserved.
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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//
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// * Redistributions of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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// * Neither the name of the Technische Universitaet Muenchen nor the names of
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// its contributors may be used to endorse or promote products derived from
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// this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// POSSIBILITY OF SUCH DAMAGE.
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//
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#ifndef _RL_PLAN_MODEL_H_
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#define _RL_PLAN_MODEL_H_
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#include <
rl/kin/Kinematics.h
>
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#include <
rl/math/Transform.h
>
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#include <
rl/math/Vector.h
>
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#include <
rl/sg/Model.h
>
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#include <
rl/sg/Scene.h
>
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namespace
rl
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{
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namespace
plan
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{
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class
Model
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{
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public
:
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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
reset
();
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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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::rl::kin::Kinematics
*
kinematics
;
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::rl::sg::Model
*
model
;
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::rl::sg::Scene
*
scene
;
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protected
:
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private
:
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};
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}
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}
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#endif // _RL_PLAN_MODEL_H_
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