gcop::Car Class Reference

#include <car.h>

Inheritance diagram for gcop::Car:

Collaboration diagram for gcop::Car:

List of all members.

Public Member Functions
	Car ()
double	Step (Vector5d &xb, double t, const Vector5d &xa, const Vector2d &u, double h, const VectorXd *p=0, Matrix5d *A=0, Matrix52d *B=0, Matrix5Xd *C=0)
Public Attributes
double	l
	distance between axles

---

Detailed Description

A simple rear-drive car model with 2nd order dynamics.

The state is and controls are correspond to forward acceleration and curvature rate

Author: Marin Kobilarov marin(at)jhu.edu

---

Constructor & Destructor Documentation

Car::Car

(

)

---

Member Function Documentation

double Car::Step	(	Vector5d &	xb,
		double	t,
		const Vector5d &	xa,
		const Vector2d &	u,
		double	h,
		const VectorXd *	p = 0,
		Matrix5d *	A = 0,
		Matrix52d *	B = 0,
		Matrix5Xd *	C = 0
	)

---

Member Data Documentation

double gcop::Car::l

distance between axles

Referenced by gcop::CarView::Render().

---

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

• lib/systems/car.h
• lib/systems/car.cc