|
Robotics Library
0.6.2
|
Go to the documentation of this file.
27 #ifndef _RL_PLAN_MODEL_H_
28 #define _RL_PLAN_MODEL_H_
48 virtual bool areColliding(const ::std::size_t& i, const ::std::size_t& j)
const;
60 virtual ::rl::sg::Body*
getBody(const ::std::size_t& i)
const;
66 virtual ::std::size_t
getDof()
const;
80 virtual ::std::string
getName()
const;
84 virtual void getPositionUnits(::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1 >& units)
const;
94 virtual bool isColliding(const ::std::size_t& i)
const;
108 virtual void reset();
118 virtual void updateFrames(
const bool& doUpdateModel =
true);
140 #endif // _RL_PLAN_MODEL_H_
virtual bool isSingular() const
Definition: Model.cpp:346
Model()
Definition: Model.cpp:35
virtual ::rl::math::Real distance(const ::rl::math::Vector &q1, const ::rl::math::Vector &q2) const
Definition: Model.cpp:74
::rl::sg::Scene * scene
Definition: Model.h:130
::rl::kin::Kinematics * kin
Definition: Model.h:124
virtual void updateJacobian()
Definition: Model.cpp:516
virtual void forwardVelocity(const ::rl::math::Vector &qdot, ::rl::math::Vector &xdot) const
Definition: Model.cpp:113
virtual void getPositionUnits(::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1 > &units) const
Definition: Model.cpp:268
::Eigen::Matrix< Real, 3, 1 > Vector3
Definition: Vector.h:45
virtual ::std::size_t getBodies() const
Definition: Model.cpp:126
virtual bool areColliding(const ::std::size_t &i, const ::std::size_t &j) const
Definition: Model.cpp:48
virtual ::rl::math::Real minDistanceToRectangle(const ::rl::math::Vector &q, const ::rl::math::Vector &min, const ::rl::math::Vector &max) const
Definition: Model.cpp:385
virtual ::std::size_t getDof() const
Definition: Model.cpp:151
::rl::sg::Model * model
Definition: Model.h:128
virtual const ::rl::math::Matrix & getJacobian() const
Definition: Model.cpp:177
virtual ::rl::math::Real maxDistanceToRectangle(const ::rl::math::Vector &q, const ::rl::math::Vector &min, const ::rl::math::Vector &max) const
Definition: Model.cpp:372
virtual ~Model()
Definition: Model.cpp:43
virtual void getMaximum(::rl::math::Vector &maximum) const
Definition: Model.cpp:216
virtual void inverseVelocity(const ::rl::math::Vector &tdot, ::rl::math::Vector &qdot) const
Definition: Model.cpp:307
virtual ::rl::sg::Body * getBody(const ::std::size_t &i) const
Definition: Model.cpp:139
::rl::mdl::Dynamic * mdl
Definition: Model.h:126
virtual void forwardForce(const ::rl::math::Vector &tau, ::rl::math::Vector &f) const
Definition: Model.cpp:87
::Eigen::Matrix< Real, ::Eigen::Dynamic, ::Eigen::Dynamic > Matrix
Definition: Matrix.h:41
virtual void setPosition(const ::rl::math::Vector &q)
Definition: Model.cpp:429
virtual void updateFrames(const bool &doUpdateModel=true)
Definition: Model.cpp:483
virtual bool isValid(const ::rl::math::Vector &q) const
Definition: Model.cpp:359
virtual void clip(::rl::math::Vector &q) const
Definition: Model.cpp:61
virtual ::std::size_t getOperationalDof() const
Definition: Model.cpp:255
virtual ::rl::math::Vector3 & getCenter(const ::std::size_t &i) const
Definition: Model.cpp:145
virtual void step(const ::rl::math::Vector &q1, const ::rl::math::Vector &qdot, ::rl::math::Vector &q2) const
Definition: Model.cpp:444
::Eigen::Transform< Real, 3, ::Eigen::Affine > Transform
Definition: Transform.h:42
virtual ::std::string getManufacturer() const
Definition: Model.cpp:203
virtual ::rl::math::Real getManipulabilityMeasure() const
Definition: Model.cpp:190
virtual ::rl::math::Real newDistance(const ::rl::math::Real &dist, const ::rl::math::Real &oldOff, const ::rl::math::Real &newOff, const int &cuttingDimension) const
Definition: Model.cpp:411
virtual void updateJacobianInverse(const ::rl::math::Real &lambda=0.0f, const bool &doSvd=true)
Definition: Model.cpp:529
virtual ::rl::math::Real transformedDistance(const ::rl::math::Real &d) const
Definition: Model.cpp:457
::Eigen::Matrix< Real, ::Eigen::Dynamic, 1 > Vector
Definition: Vector.h:41
virtual ::rl::math::Real inverseOfTransformedDistance(const ::rl::math::Real &d) const
Definition: Model.cpp:294
Definition: Kinematics.h:49
virtual const ::rl::math::Transform & getFrame(const ::std::size_t &i) const
Definition: Model.cpp:164
double Real
Definition: Real.h:34
virtual void interpolate(const ::rl::math::Vector &q1, const ::rl::math::Vector &q2, const ::rl::math::Real &alpha, ::rl::math::Vector &q) const
Definition: Model.cpp:320
virtual ::std::string getName() const
Definition: Model.cpp:242
virtual void getMinimum(::rl::math::Vector &minimum) const
Definition: Model.cpp:229
virtual bool isColliding(const ::std::size_t &i) const
Definition: Model.cpp:333
virtual void inverseForce(const ::rl::math::Vector &f, ::rl::math::Vector &tau) const
Definition: Model.cpp:281
virtual const ::rl::math::Transform & forwardPosition(const ::std::size_t &i=0) const
Definition: Model.cpp:100
virtual void reset()
Definition: Model.cpp:424