Robotics Library  0.6.2
Public Member Functions | List of all members
rl::mdl::Metric Class Reference

#include <Metric.h>

Inheritance diagram for rl::mdl::Metric:
Inheritance graph
[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 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
 
- 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
 
void getAcceleration (::rl::math::Vector &qdd) const
 
void getAccelerationUnits (::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1 > &units) 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
 
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
 
void getMaximum (::rl::math::Vector &max) const
 
void getMinimum (::rl::math::Vector &min) const
 
const ::std::string & getName () const
 
void getPosition (::rl::math::Vector &q) const
 
void getPositionUnits (::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1 > &units) const
 
void getTorque (::rl::math::Vector &tau) const
 
void getTorqueUnits (::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1 > &units) const
 
void getSpeed (::rl::math::Vector &speed) const
 
void getSpeedUnits (::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1 > &units) const
 
void getVelocity (::rl::math::Vector &qd) const
 
void getVelocityUnits (::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1 > &units) 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 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 *, ::boost::shared_ptr< Frame > >, ::boost::property< ::boost::edge_weight_t, Compound *, ::boost::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
 
::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

◆ step()

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

◆ transformedDistance() [1/2]

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

◆ transformedDistance() [2/2]

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:
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