Robotics Library  0.7.0
Public Member Functions | List of all members
rl::mdl::Spherical Class Reference

#include <Spherical.h>

Inheritance diagram for rl::mdl::Spherical:
Inheritance graph
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Public Member Functions

 Spherical ()
 
virtual ~Spherical ()
 
void clip (::rl::math::Vector &q) const
 
::rl::math::Real distance (const ::rl::math::Vector &q1, const ::rl::math::Vector &q2) const
 
::rl::math::Vector generatePositionGaussian (const ::rl::math::ConstVectorRef &rand, const ::rl::math::ConstVectorRef &mean, const ::rl::math::ConstVectorRef &sigma) const
 
::rl::math::Vector generatePositionUniform (const ::rl::math::ConstVectorRef &rand) const
 
void interpolate (const ::rl::math::Vector &q1, const ::rl::math::Vector &q2, const ::rl::math::Real &alpha, ::rl::math::Vector &q) const
 
void normalize (::rl::math::Vector &q) const
 
void setPosition (const ::rl::math::Vector &q)
 
void step (const ::rl::math::Vector &q1, const ::rl::math::Vector &qdot, ::rl::math::Vector &q2) const
 
::rl::math::Real transformedDistance (const ::rl::math::Vector &q1, const ::rl::math::Vector &q2) const
 
- Public Member Functions inherited from rl::mdl::Joint
 Joint (const ::std::size_t &dofPosition, const ::std::size_t &dofVelocity)
 
virtual ~Joint ()
 
virtual ::rl::math::Real distance (const ::rl::math::Vector &q1, const ::rl::math::Vector &q2) const
 
void forwardAcceleration ()
 
void forwardDynamics1 ()
 
void forwardDynamics2 ()
 
void forwardDynamics3 ()
 
void forwardVelocity ()
 
virtual ::rl::math::Vector generatePositionGaussian (const ::rl::math::ConstVectorRef &rand, const ::rl::math::ConstVectorRef &mean, const ::rl::math::ConstVectorRef &sigma) const
 
virtual ::rl::math::Vector generatePositionUniform (const ::rl::math::ConstVectorRef &rand) const
 
const ::rl::math::VectorgetAcceleration () const
 
const ::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1 > & getAccelerationUnits () const
 
::std::size_t getDof () const
 
::std::size_t getDofPosition () const
 
const ::rl::math::VectorgetMaximum () const
 
const ::rl::math::VectorgetMinimum () const
 
const ::rl::math::VectorgetPosition () const
 
const ::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1 > & getPositionUnits () const
 
const ::rl::math::VectorgetTorque () const
 
const ::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1 > & getTorqueUnits () const
 
const ::rl::math::VectorgetSpeed () const
 
const ::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1 > & getSpeedUnits () const
 
const ::rl::math::VectorgetVelocity () const
 
const ::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1 > & getVelocityUnits () const
 
void inverseForce ()
 
virtual bool isValid (const ::rl::math::Vector &q) const
 
void setAcceleration (const ::rl::math::Vector &qdd)
 
void setTorque (const ::rl::math::Vector &tau)
 
void setVelocity (const ::rl::math::Vector &qd)
 
virtual ::rl::math::Real transformedDistance (const ::rl::math::Vector &q1, const ::rl::math::Vector &q2) const
 
- Public Member Functions inherited from rl::mdl::Transform
 Transform ()
 
virtual ~Transform ()
 
void forwardPosition ()
 
const EdgegetEdgeDescriptor () const
 
virtual void inverseDynamics1 ()
 
virtual void inverseDynamics2 ()
 
void setEdgeDescriptor (const Edge &descriptor)
 
- Public Member Functions inherited from rl::mdl::Element
 Element ()
 
virtual ~Element ()
 
const ::std::string & getName () const
 
void setName (const ::std::string &name)
 

Additional Inherited Members

- Public Types inherited from rl::mdl::Transform
typedef Tree::edge_descriptor Edge
 
- Public Attributes inherited from rl::mdl::Joint
::rl::math::MotionVector a
 
::rl::math::MotionVector c
 
::rl::math::Matrix D
 
::rl::math::Vector max
 
::rl::math::Vector min
 
::rl::math::Vector offset
 
::rl::math::Vector q
 
::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1 > qUnits
 
::rl::math::Vector qd
 
::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1 > qdUnits
 
::rl::math::Vector qdd
 
::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1 > qddUnits
 
::rl::math::Matrix S
 
::rl::math::Vector speed
 
::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1 > speedUnits
 
::rl::math::Vector tau
 
::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1 > tauUnits
 
::rl::math::Vector u
 
::rl::math::Matrix U
 
::rl::math::MotionVector v
 
::Eigen::Matrix< bool, ::Eigen::Dynamic, 1 > wraparound
 
- Public Attributes inherited from rl::mdl::Transform
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef ::boost::adjacency_list< ::boost::listS, ::boost::listS, ::boost::bidirectionalS, ::boost::listS > Tree
 
Framein
 
Frameout
 
::rl::math::Transform t
 
::rl::math::PlueckerTransform x
 
- Public Attributes inherited from rl::mdl::Element
Compoundcompound
 

Constructor & Destructor Documentation

◆ Spherical()

rl::mdl::Spherical::Spherical ( )

◆ ~Spherical()

rl::mdl::Spherical::~Spherical ( )
virtual

Member Function Documentation

◆ clip()

void rl::mdl::Spherical::clip ( ::rl::math::Vector q) const
virtual

Reimplemented from rl::mdl::Joint.

◆ distance()

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

◆ generatePositionGaussian()

rl::math::Vector rl::mdl::Spherical::generatePositionGaussian ( const ::rl::math::ConstVectorRef rand,
const ::rl::math::ConstVectorRef mean,
const ::rl::math::ConstVectorRef sigma 
) const

◆ generatePositionUniform()

rl::math::Vector rl::mdl::Spherical::generatePositionUniform ( const ::rl::math::ConstVectorRef rand) const

◆ interpolate()

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

Reimplemented from rl::mdl::Joint.

◆ normalize()

void rl::mdl::Spherical::normalize ( ::rl::math::Vector q) const
virtual

Reimplemented from rl::mdl::Joint.

◆ setPosition()

void rl::mdl::Spherical::setPosition ( const ::rl::math::Vector q)
virtual

Implements rl::mdl::Joint.

◆ step()

void rl::mdl::Spherical::step ( const ::rl::math::Vector q1,
const ::rl::math::Vector qdot,
::rl::math::Vector q2 
) const
virtual

Reimplemented from rl::mdl::Joint.

◆ transformedDistance()

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

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