Robotics Library  0.7.0
Public Member Functions | Protected Attributes | List of all members
rl::plan::SimpleModel Class Reference

#include <SimpleModel.h>

Inheritance diagram for rl::plan::SimpleModel:
Inheritance graph
[legend]

Public Member Functions

 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::math::Vector generatePositionGaussian (const ::rl::math::Vector &rand, const ::rl::math::Vector &mean, const ::rl::math::Vector &sigma) const
 
virtual ::rl::math::Vector generatePositionUniform (const ::rl::math::Vector &rand) 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 ::std::size_t getDofPosition () 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 ::rl::math::Vector getMaximum () const
 
virtual ::rl::math::Vector getMinimum () const
 
virtual ::std::string getName () const
 
virtual ::std::size_t getOperationalDof () const
 
virtual ::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1 > getPositionUnits () 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 ::rl::math::Real transformedDistance (const ::rl::math::Real &q1, const ::rl::math::Real &q2, const ::std::size_t &i) 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)
 

Protected Attributes

::std::size_t body
 
::std::size_t freeQueries
 
::std::size_t totalQueries
 

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
 

Constructor & Destructor Documentation

◆ SimpleModel()

rl::plan::SimpleModel::SimpleModel ( )

◆ ~SimpleModel()

rl::plan::SimpleModel::~SimpleModel ( )
virtual

Member Function Documentation

◆ getCollidingBody()

std::size_t rl::plan::SimpleModel::getCollidingBody ( ) const

◆ getFreeQueries()

std::size_t rl::plan::SimpleModel::getFreeQueries ( ) const

◆ getTotalQueries()

std::size_t rl::plan::SimpleModel::getTotalQueries ( ) const

◆ isColliding() [1/2]

bool rl::plan::SimpleModel::isColliding ( )
virtual

◆ isColliding() [2/2]

bool rl::plan::Model::isColliding

◆ reset()

void rl::plan::SimpleModel::reset ( )
virtual

Reimplemented from rl::plan::Model.

Member Data Documentation

◆ body

::std::size_t rl::plan::SimpleModel::body
protected

◆ freeQueries

::std::size_t rl::plan::SimpleModel::freeQueries
protected

◆ totalQueries

::std::size_t rl::plan::SimpleModel::totalQueries
protected
The documentation for this class was generated from the following files:
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