rl::plan::Model Class Reference

#include <Model.h>

Inheritance diagram for rl::plan::Model:

Public Member Functions
	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	reset ()
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)

Public Attributes
::rl::kin::Kinematics *	kin
::rl::mdl::Dynamic *	mdl
::rl::sg::Model *	model
::rl::sg::Scene *	scene

Constructor & Destructor Documentation

Model()

rl::plan::Model::Model

(

)

~Model()

rl::plan::Model::~Model ( )

virtual

Member Function Documentation

areColliding()

bool rl::plan::Model::areColliding ( const ::std::size_t &  i, const ::std::size_t &  j  ) const

virtual

clip()

void rl::plan::Model::clip ( ::rl::math::Vector &  q ) const

virtual

distance()

rl::math::Real rl::plan::Model::distance	(	const ::rl::math::Vector &	q1,
		const ::rl::math::Vector &	q2
	)		const

forwardForce()

void rl::plan::Model::forwardForce ( const ::rl::math::Vector &  tau, ::rl::math::Vector &  f  ) const

virtual

forwardPosition()

const ::rl::math::Transform & rl::plan::Model::forwardPosition ( const ::std::size_t &  i = 0 ) const

virtual

forwardVelocity()

void rl::plan::Model::forwardVelocity ( const ::rl::math::Vector &  qdot, ::rl::math::Vector &  xdot  ) const

virtual

generatePositionGaussian()

rl::math::Vector rl::plan::Model::generatePositionGaussian	(	const ::rl::math::Vector &	rand,
		const ::rl::math::Vector &	mean,
		const ::rl::math::Vector &	sigma
	)		const

generatePositionUniform()

rl::math::Vector rl::plan::Model::generatePositionUniform

(

const ::rl::math::Vector &

rand

)

const

getBodies()

std::size_t rl::plan::Model::getBodies

(

)

const

getBody()

rl::sg::Body * rl::plan::Model::getBody

(

const ::std::size_t &

i

)

const

getCenter()

rl::math::Vector3 & rl::plan::Model::getCenter

(

const ::std::size_t &

i

)

const

getDof()

std::size_t rl::plan::Model::getDof

(

)

const

getDofPosition()

std::size_t rl::plan::Model::getDofPosition

(

)

const

getFrame()

const ::rl::math::Transform & rl::plan::Model::getFrame ( const ::std::size_t &  i ) const

virtual

getJacobian()

const ::rl::math::Matrix & rl::plan::Model::getJacobian ( ) const

virtual

getManipulabilityMeasure()

rl::math::Real rl::plan::Model::getManipulabilityMeasure

(

)

const

getManufacturer()

std::string rl::plan::Model::getManufacturer

(

)

const

getMaximum()

rl::math::Vector rl::plan::Model::getMaximum

(

)

const

getMinimum()

rl::math::Vector rl::plan::Model::getMinimum

(

)

const

getName()

std::string rl::plan::Model::getName

(

)

const

getOperationalDof()

std::size_t rl::plan::Model::getOperationalDof

(

)

const

getPositionUnits()

Eigen::Matrix<::rl::math::Unit,::Eigen::Dynamic, 1 > rl::plan::Model::getPositionUnits

(

)

const

interpolate()

void rl::plan::Model::interpolate ( const ::rl::math::Vector &  q1, const ::rl::math::Vector &  q2, const ::rl::math::Real &  alpha, ::rl::math::Vector &  q  ) const

virtual

inverseForce()

void rl::plan::Model::inverseForce ( const ::rl::math::Vector &  f, ::rl::math::Vector &  tau  ) const

virtual

inverseOfTransformedDistance()

rl::math::Real rl::plan::Model::inverseOfTransformedDistance

(

const ::rl::math::Real &

d

)

const

inverseVelocity()

void rl::plan::Model::inverseVelocity ( const ::rl::math::Vector &  tdot, ::rl::math::Vector &  qdot  ) const

virtual

isColliding()

bool rl::plan::Model::isColliding ( const ::std::size_t &  i ) const

virtual

isSingular()

bool rl::plan::Model::isSingular ( ) const

virtual

isValid()

bool rl::plan::Model::isValid ( const ::rl::math::Vector &  q ) const

virtual

maxDistanceToRectangle()

rl::math::Real rl::plan::Model::maxDistanceToRectangle	(	const ::rl::math::Vector &	q,
		const ::rl::math::Vector &	min,
		const ::rl::math::Vector &	max
	)		const

minDistanceToRectangle() [1/2]

rl::math::Real rl::plan::Model::minDistanceToRectangle	(	const ::rl::math::Real &	q,
		const ::rl::math::Real &	min,
		const ::rl::math::Real &	max,
		const ::std::size_t &	cuttingDimension
	)		const

minDistanceToRectangle() [2/2]

rl::math::Real rl::plan::Model::minDistanceToRectangle	(	const ::rl::math::Vector &	q,
		const ::rl::math::Vector &	min,
		const ::rl::math::Vector &	max
	)		const

newDistance()

rl::math::Real rl::plan::Model::newDistance	(	const ::rl::math::Real &	dist,
		const ::rl::math::Real &	oldOff,
		const ::rl::math::Real &	newOff,
		const int &	cuttingDimension
	)		const

reset()

void rl::plan::Model::reset ( )

virtual

Reimplemented in rl::plan::SimpleModel.

setPosition()

void rl::plan::Model::setPosition ( const ::rl::math::Vector &  q )

virtual

step()

void rl::plan::Model::step ( const ::rl::math::Vector &  q1, const ::rl::math::Vector &  qdot, ::rl::math::Vector &  q2  ) const

virtual

transformedDistance() [1/3]

rl::math::Real rl::plan::Model::transformedDistance

(

const ::rl::math::Real &

d

)

const

transformedDistance() [2/3]

rl::math::Real rl::plan::Model::transformedDistance	(	const ::rl::math::Real &	q1,
		const ::rl::math::Real &	q2,
		const ::std::size_t &	i
	)		const

transformedDistance() [3/3]

rl::math::Real rl::plan::Model::transformedDistance	(	const ::rl::math::Vector &	q1,
		const ::rl::math::Vector &	q2
	)		const

updateFrames()

void rl::plan::Model::updateFrames ( const bool &  doUpdateModel = true )

virtual

updateJacobian()

void rl::plan::Model::updateJacobian ( )

virtual

updateJacobianInverse()

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

virtual

Member Data Documentation

kin

::rl::kin::Kinematics* rl::plan::Model::kin

mdl

::rl::mdl::Dynamic* rl::plan::Model::mdl

model

::rl::sg::Model* rl::plan::Model::model

scene

::rl::sg::Scene* rl::plan::Model::scene

---

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

• rl/plan/Model.h
• rl/plan/Model.cpp