#include <Helical.h>

Inheritance diagram for rl::mdl::Helical:

[legend]

Public Member Functions
	Helical ()

virtual	~Helical ()

::rl::math::Real	getPitch () const

void	setPitch (const ::rl::math::Real &h)

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

Public Member Functions inherited from rl::mdl::Joint
	Joint (const ::std::size_t &dofPosition, const ::std::size_t &dofVelocity)

virtual	~Joint ()

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

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::Vector &	getAcceleration () 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::Vector &	getMaximum () const

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

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

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

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

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

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

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

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

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

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

void	inverseForce ()

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

virtual void	normalize (::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 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::Vector &q1, const ::rl::math::Vector &q2) const

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

virtual	~Transform ()

void	forwardPosition ()

const Edge &	getEdgeDescriptor () 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)

Private Attributes
::rl::math::Real	h

Additional Inherited Members
Public Types inherited from rl::mdl::Transform
typedef ::boost::adjacency_list< ::boost::listS, ::boost::listS, ::boost::bidirectionalS, ::boost::listS >	Tree

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
Frame *	in

Frame *	out

::rl::math::Transform	t

::rl::math::PlueckerTransform	x

Public Attributes inherited from rl::mdl::Element
Compound *	compound

Constructor & Destructor Documentation

◆ Helical()

rl::mdl::Helical::Helical ( )

◆ ~Helical()

rl::mdl::Helical::~Helical ( )

virtual

Member Function Documentation

◆ getPitch()

rl::math::Real rl::mdl::Helical::getPitch ( ) const

◆ setPitch()

void rl::mdl::Helical::setPitch ( const ::rl::math::Real & h )

◆ setPosition()

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

virtual

Implements rl::mdl::Joint.

Member Data Documentation

◆ h

::rl::math::Real rl::mdl::Helical::h

private

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

rl/mdl/Helical.h
rl/mdl/Helical.cpp

Public Member Functions

Private Attributes

Additional Inherited Members