#include <Metric.h>

Inheritance diagram for rl::mdl::Metric:

[legend]

Public Member Functions
	Metric ()

virtual	~Metric ()

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

Model *	clone () const

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

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

::rl::math::Real	inverseOfTransformedDistance (const ::rl::math::Real &d) const

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

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

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

::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

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

void	normalize (::rl::math::Vector &q) const

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

::rl::math::Real	transformedDistance (const ::rl::math::Real &d) const

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

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

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

virtual	~Model ()

void	add (Compound compound, const Frame a, const Frame *b)

void	add (Frame *frame)

void	add (Transform transform, const Frame a, const Frame *b)

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

Model *	clone () const

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

::rl::math::Vector	generatePositionUniform (const ::rl::math::Vector &rand) const

::rl::math::Vector	getAcceleration () const

::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1 >	getAccelerationUnits () const

::std::size_t	getBodies () const

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

::std::size_t	getDof () const

::std::size_t	getDofPosition () const

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

const ::rl::math::Matrix &	getGammaPosition () const

const ::rl::math::Matrix &	getGammaVelocity () const

const ::rl::math::Matrix &	getGammaPositionInverse () const

const ::rl::math::Matrix &	getGammaVelocityInverse () const

::rl::math::Vector	getHomePosition () const

Joint *	getJoint (const ::std::size_t &i) const

::std::size_t	getJoints () const

const ::rl::math::MotionVector &	getOperationalAcceleration (const ::std::size_t &i) const

::std::size_t	getOperationalDof () const

const ::rl::math::ForceVector &	getOperationalForce (const ::std::size_t &i) const

const ::rl::math::Transform &	getOperationalPosition (const ::std::size_t &i) const

const ::rl::math::MotionVector &	getOperationalVelocity (const ::std::size_t &i) const

const ::std::string &	getManufacturer () const

::rl::math::Vector	getMaximum () const

::rl::math::Vector	getMinimum () const

const ::std::string &	getName () const

::rl::math::Vector	getPosition () const

::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1 >	getPositionUnits () const

::rl::math::Vector	getTorque () const

::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1 >	getTorqueUnits () const

::rl::math::Vector	getSpeed () const

::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1 >	getSpeedUnits () const

::rl::math::Vector	getVelocity () const

::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1 >	getVelocityUnits () const

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

void	replace (Compound compound, Transform transform)

void	replace (Transform transform, Compound compound)

void	remove (Compound *compound)

void	remove (Frame *frame)

void	remove (Transform *transform)

void	setAcceleration (const ::rl::math::Vector &qdd)

void	setGammaPosition (const ::rl::math::Matrix &gammaPosition)

void	setGammaVelocity (const ::rl::math::Matrix &gammaVelocity)

void	setHomePosition (const ::rl::math::Vector &home)

void	setManufacturer (const ::std::string &manufacturer)

void	setName (const ::std::string &name)

void	setOperationalVelocity (const ::std::size_t &i, const ::rl::math::MotionVector &v) const

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

void	setTorque (const ::rl::math::Vector &tau)

void	setVelocity (const ::rl::math::Vector &qd)

::rl::math::Transform &	tool (const ::std::size_t &i=0)

const ::rl::math::Transform &	tool (const ::std::size_t &i=0) const

virtual void	update ()

::rl::math::Transform &	world ()

const ::rl::math::Transform &	world () const

Additional Inherited Members
Protected Types inherited from rl::mdl::Model
typedef ::boost::adjacency_list< ::boost::listS, ::boost::listS, ::boost::bidirectionalS, ::boost::property< ::boost::vertex_color_t, Compound , ::std::shared_ptr< Frame > >, ::boost::property< ::boost::edge_weight_t, Compound , ::std::shared_ptr< Transform > >, ::boost::no_property, ::boost::listS >	Tree

typedef ::boost::graph_traits< Tree >::edge_descriptor	Edge

typedef ::boost::graph_traits< Tree >::edge_iterator	EdgeIterator

typedef ::std::pair< EdgeIterator, EdgeIterator >	EdgeIteratorPair

typedef ::boost::graph_traits< Tree >::in_edge_iterator	InEdgeIterator

typedef ::std::pair< InEdgeIterator, InEdgeIterator >	InEdgeIteratorPair

typedef ::boost::graph_traits< Tree >::out_edge_iterator	OutEdgeIterator

typedef ::std::pair< OutEdgeIterator, OutEdgeIterator >	OutEdgeIteratorPair

typedef ::boost::graph_traits< Tree >::vertex_descriptor	Vertex

typedef ::boost::graph_traits< Tree >::vertex_iterator	VertexIterator

typedef ::std::pair< VertexIterator, VertexIterator >	VertexIteratorPair

Protected Member Functions inherited from rl::mdl::Model
void	update (const Vertex &u)

Protected Attributes inherited from rl::mdl::Model
::std::vector< Body * >	bodies

::std::vector< Element * >	elements

::std::vector< Frame * >	frames

::rl::math::Matrix	gammaPosition

::rl::math::Matrix	gammaVelocity

::rl::math::Vector	home

::rl::math::Matrix	invGammaPosition

::rl::math::Matrix	invGammaVelocity

::std::vector< Joint * >	joints

::std::vector< Vertex >	leaves

::std::string	manufacturer

::std::string	name

Vertex	root

::std::vector< Edge >	tools

::std::vector< Transform * >	transforms

Tree	tree

Constructor & Destructor Documentation

◆ Metric()

rl::mdl::Metric::Metric ( )

◆ ~Metric()

rl::mdl::Metric::~Metric ( )

virtual

Member Function Documentation

◆ clip()

void rl::mdl::Metric::clip ( ::rl::math::Vector & q ) const

◆ clone()

Model * rl::mdl::Metric::clone ( ) const

◆ distance()

rl::math::Real rl::mdl::Metric::distance	(	const ::rl::math::Vector &	q1,
		const ::rl::math::Vector &	q2
	)		const

◆ interpolate()

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

◆ inverseOfTransformedDistance()

rl::math::Real rl::mdl::Metric::inverseOfTransformedDistance ( const ::rl::math::Real & d ) const

◆ isValid()

bool rl::mdl::Metric::isValid ( const ::rl::math::Vector & q ) const

◆ maxDistanceToRectangle()

rl::math::Real rl::mdl::Metric::maxDistanceToRectangle	(	const ::rl::math::Vector &	q,
		const ::rl::math::Vector &	min,
		const ::rl::math::Vector &	max
	)		const

◆ minDistanceToRectangle() [1/2]

rl::math::Real rl::mdl::Metric::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::mdl::Metric::minDistanceToRectangle	(	const ::rl::math::Vector &	q,
		const ::rl::math::Vector &	min,
		const ::rl::math::Vector &	max
	)		const

◆ newDistance()

rl::math::Real rl::mdl::Metric::newDistance	(	const ::rl::math::Real &	dist,
		const ::rl::math::Real &	oldOff,
		const ::rl::math::Real &	newOff,
		const int &	cuttingDimension
	)		const

◆ normalize()

void rl::mdl::Metric::normalize ( ::rl::math::Vector & q ) const

◆ step()

void rl::mdl::Metric::step	(	const ::rl::math::Vector &	q1,
		const ::rl::math::Vector &	qdot,
		::rl::math::Vector &	q2
	)		const

◆ transformedDistance() [1/3]

rl::math::Real rl::mdl::Metric::transformedDistance ( const ::rl::math::Real & d ) const

◆ transformedDistance() [2/3]

rl::math::Real rl::mdl::Metric::transformedDistance	(	const ::rl::math::Real &	q1,
		const ::rl::math::Real &	q2,
		const ::std::size_t &	i
	)		const

◆ transformedDistance() [3/3]

rl::math::Real rl::mdl::Metric::transformedDistance	(	const ::rl::math::Vector &	q1,
		const ::rl::math::Vector &	q2
	)		const

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

rl/mdl/Metric.h
rl/mdl/Metric.cpp

Public Member Functions

Additional Inherited Members