#include <DistanceModel.h>

Inheritance diagram for rl::plan::DistanceModel:

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 ()

virtual bool	isColliding (const ::std::size_t &i) const

Public Member Functions inherited from rl::plan::Model
	Model ()

virtual	~Model ()

virtual bool	areColliding (const ::std::size_t &i, const ::std::size_t &j) const

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::Body *	getBody (const ::std::size_t &i) const

virtual ::std::size_t	getBodies () const

virtual ::rl::math::Vector3 &	getCenter (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::Matrix &	getJacobian () const

virtual ::rl::math::Real	getManipulabilityMeasure () const

virtual ::std::string	getManufacturer () const

virtual void	getMaximum (::rl::math::Vector &maximum) const

virtual void	getMinimum (::rl::math::Vector &minimum) const

virtual ::std::string	getName () const

virtual ::std::size_t	getOperationalDof () const

virtual void	getPositionUnits (::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1 > &units) 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	isColliding (const ::std::size_t &i) 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 (const bool &doUpdateModel=true)

virtual void	updateJacobian ()

virtual void	updateJacobianInverse (const ::rl::math::Real &lambda=0.0f, const bool &doSvd=true)

Additional Inherited Members
Public Attributes inherited from rl::plan::Model
::rl::kin::Kinematics *	kin

::rl::mdl::Dynamic *	mdl

::rl::sg::Model *	model

::rl::sg::Scene *	scene

Protected Attributes inherited from rl::plan::SimpleModel
::std::size_t	body

::std::size_t	freeQueries

::std::size_t	totalQueries

Constructor & Destructor Documentation

◆ DistanceModel()

rl::plan::DistanceModel::DistanceModel ( )

◆ ~DistanceModel()

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

virtual

Member Function Documentation

◆ distance() [1/3]

rl::math::Real rl::plan::DistanceModel::distance ( const ::rl::math::Vector3 & point )

◆ distance() [2/3]

rl::math::Real rl::plan::DistanceModel::distance	(	const ::std::size_t &	body,
		::rl::math::Vector3 &	point1,
		::rl::math::Vector3 &	point2
	)

◆ distance() [3/3]

void rl::plan::DistanceModel::distance	(	const ::std::size_t &	body,
		RealList &	distances,
		Vector3List &	points1,
		Vector3List &	points2
	)