rl::mdl::Spherical Class Reference

#include <Spherical.h>

Inheritance diagram for rl::mdl::Spherical:

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::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
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 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)

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

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

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

• rl/mdl/Spherical.h
• rl/mdl/Spherical.cpp