Robotics Library  0.6.0
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Public Member Functions
rl::plan::DistanceModel Class Reference

#include <DistanceModel.h>

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List of all members.

Public Member Functions

 DistanceModel ()
virtual ~DistanceModel ()
virtual ::rl::math::Real distance (const ::rl::math::Vector3 &point)
virtual ::rl::math::Real distance (const ::std::size_t &body,::rl::math::Vector3 &point1,::rl::math::Vector3 &point2)
virtual void distance (const ::std::size_t &body, RealList &distances, Vector3List &points1, Vector3List &points2)
- Public Member Functions inherited from rl::plan::SimpleModel
 SimpleModel ()
virtual ~SimpleModel ()
::std::size_t getCollidingBody () const
::std::size_t getFreeQueries () const
::std::size_t getTotalQueries () const
virtual bool isColliding ()
virtual void reset ()
- Public Member Functions inherited from rl::plan::Model
 Model ()
virtual ~Model ()
virtual void clip (::rl::math::Vector &q) const
virtual ::rl::math::Real distance (const ::rl::math::Vector &q1, const ::rl::math::Vector &q2) const
virtual void forwardForce (const ::rl::math::Vector &tau,::rl::math::Vector &f) const
virtual const
::rl::math::Transform
forwardPosition (const ::std::size_t &i=0) const
virtual void forwardVelocity (const ::rl::math::Vector &qdot,::rl::math::Vector &xdot) const
virtual ::rl::sg::BodygetBody (const ::std::size_t &i) const
virtual ::std::size_t getBodies () const
virtual ::rl::math::Vector3getCenter (const ::std::size_t &i) const
virtual ::std::size_t getDof () const
virtual const
::rl::math::Transform
getFrame (const ::std::size_t &i) const
virtual const ::rl::math::MatrixgetJacobian () const
virtual ::rl::math::Real getManipulabilityMeasure () const
virtual ::rl::math::Real getMaximum (const ::std::size_t &i) const
virtual ::rl::math::Real getMinimum (const ::std::size_t &i) const
virtual ::std::size_t getOperationalDof () const
virtual void inverseForce (const ::rl::math::Vector &f,::rl::math::Vector &tau) const
virtual ::rl::math::Real inverseOfTransformedDistance (const ::rl::math::Real &d) const
virtual void inverseVelocity (const ::rl::math::Vector &tdot,::rl::math::Vector &qdot) const
virtual void interpolate (const ::rl::math::Vector &q1, const ::rl::math::Vector &q2, const ::rl::math::Real &alpha,::rl::math::Vector &q) const
virtual bool isSingular () const
virtual bool isValid (const ::rl::math::Vector &q) const
virtual ::rl::math::Real maxDistanceToRectangle (const ::rl::math::Vector &q, const ::rl::math::Vector &min, const ::rl::math::Vector &max) const
virtual ::rl::math::Real minDistanceToRectangle (const ::rl::math::Vector &q, const ::rl::math::Vector &min, const ::rl::math::Vector &max) const
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
virtual ::rl::math::Real newDistance (const ::rl::math::Real &dist, const ::rl::math::Real &oldOff, const ::rl::math::Real &newOff, const int &cuttingDimension) const
virtual void setPosition (const ::rl::math::Vector &q)
virtual void step (const ::rl::math::Vector &q1, const ::rl::math::Vector &qdot,::rl::math::Vector &q2) const
virtual ::rl::math::Real transformedDistance (const ::rl::math::Real &d) const
virtual ::rl::math::Real transformedDistance (const ::rl::math::Vector &q1, const ::rl::math::Vector &q2) const
virtual void updateFrames ()
virtual void updateJacobian ()
virtual void updateJacobianInverse (const ::rl::math::Real &lambda=0.0f, const bool &doSvd=true)

Additional Inherited Members

- Protected Attributes inherited from rl::plan::SimpleModel
::std::size_t body
::std::size_t freeQueries
::std::size_t totalQueries

Constructor & Destructor Documentation

rl::plan::DistanceModel::DistanceModel ( )
rl::plan::DistanceModel::~DistanceModel ( )
virtual

Member Function Documentation

rl::math::Real rl::plan::DistanceModel::distance ( const ::rl::math::Vector3 point)
rl::math::Real rl::plan::DistanceModel::distance ( const ::std::size_t &  body,
::rl::math::Vector3 point1,
::rl::math::Vector3 point2 
)
void rl::plan::DistanceModel::distance ( const ::std::size_t &  body,
RealList distances,
Vector3List points1,
Vector3List points2 
)
virtual

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