#include <body2d.h>
Public Types | |
| typedef Matrix< double, c, 1 > | Vectorcd |
| typedef Matrix< double, 6, c > | Matrix6cd |
| typedef Matrix< double, 3, c > | Matrix3cd |
Public Member Functions | |
| Body2d (Body2dForce< c > *f=0) | |
| double | Step (Body2dState &xb, double t, const Body2dState &xa, const Vectorcd &u, double h, const VectorXd *p=0, Matrix6d *A=0, Matrix6cd *B=0, Matrix< double, 6, Dynamic > *C=0) |
Public Attributes | |
| Vector2d | d |
| body dimensions | |
| Vector3d | I |
| inertia components | |
| Body2dForce< c > * | force |
| force from controls and external disturbances | |
Detailed Description
template<int c = 3>
class gcop::Body2d< c >
A "geometric" planar rigid body system. The control system is implemented as an evolution on SE(2) as opposed to a vector space.
The state is 
where 
is the pose, and 
is the velocity
Author: Marin Kobilarov marin(at)jhu.edu
Member Typedef Documentation
| typedef Matrix<double, 3, c> gcop::Body2d< c >::Matrix3cd |
| typedef Matrix<double, 6, c> gcop::Body2d< c >::Matrix6cd |
| typedef Matrix<double, c, 1> gcop::Body2d< c >::Vectorcd |
Reimplemented from gcop::System< Body2dState, 6, c >.
Constructor & Destructor Documentation
| gcop::Body2d< c >::Body2d | ( | Body2dForce< c > * | f = 0 | ) |
Member Function Documentation
| double gcop::Body2d< c >::Step | ( | Body2dState & | xb, |
| double | t, | ||
| const Body2dState & | xa, | ||
| const Vectorcd & | u, | ||
| double | h, | ||
| const VectorXd * | p = 0, |
||
| Matrix6d * | A = 0, |
||
| Matrix6cd * | B = 0, |
||
| Matrix< double, 6, Dynamic > * | C = 0 |
||
| ) |
References gcop::SE2::Ad(), gcop::SE2::cay(), gcop::SE2::dcay(), gcop::Body2d< c >::force, gcop::Body2d< c >::I, and gcop::SE2::Instance().
Referenced by gcop::Body2dTrack::Add(), gcop::Body2dTrack::Add2(), and gcop::Body2dGraph::Synthesize3().
Member Data Documentation
| Vector2d gcop::Body2d< c >::d |
body dimensions
| Body2dForce<c>* gcop::Body2d< c >::force |
force from controls and external disturbances
Referenced by gcop::Body2d< c >::Step(), gcop::Body2dGraph::Synthesize2(), and gcop::Body2dGraph::Synthesize3().
| Vector3d gcop::Body2d< c >::I |
inertia components
Referenced by gcop::Body2d< c >::Step(), and gcop::Body2dGraph::Synthesize3().
The documentation for this class was generated from the following files:
