GCOP  1.0
Public Types | Public Member Functions | Public Attributes
gcop::Cylinder< T, _nx, _nu, _np > Class Template Reference

#include <cylinder.h>

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Collaboration diagram for gcop::Cylinder< T, _nx, _nu, _np >:
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List of all members.

Public Types

typedef Matrix< double, 1, 1 > Vectorgd
typedef Matrix< double, 1, _nx > Matrixgxd
typedef Matrix< double, 1, _nu > Matrixgud
typedef Matrix< double, 1, _np > Matrixgpd
typedef Matrix< double, _nx, 1 > Vectornd
typedef Matrix< double, _nu, 1 > Vectorcd
typedef Matrix< double, _np, 1 > Vectormd

Public Member Functions

 Cylinder (const Vector3d &o, double r, double h, double cr=.5)
bool operator() (Vectorgd &g, double t, const T &x, const Vectorcd &u, const Vectormd *p=0, Matrixgxd *dgdx=0, Matrixgud *dgdu=0, Matrixgpd *dgdp=0)

Public Attributes

Vector3d o
 origin of base
double r
 radius
double h
 height
double cr
 collision radius

template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic>
class gcop::Cylinder< T, _nx, _nu, _np >


Member Typedef Documentation

template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic>
typedef Matrix<double, 1, _np> gcop::Cylinder< T, _nx, _nu, _np >::Matrixgpd
template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic>
typedef Matrix<double, 1, _nu> gcop::Cylinder< T, _nx, _nu, _np >::Matrixgud
template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic>
typedef Matrix<double, 1, _nx> gcop::Cylinder< T, _nx, _nu, _np >::Matrixgxd
template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic>
typedef Matrix<double, _nu, 1> gcop::Cylinder< T, _nx, _nu, _np >::Vectorcd
template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic>
typedef Matrix<double, 1, 1> gcop::Cylinder< T, _nx, _nu, _np >::Vectorgd
template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic>
typedef Matrix<double, _np, 1> gcop::Cylinder< T, _nx, _nu, _np >::Vectormd
template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic>
typedef Matrix<double, _nx, 1> gcop::Cylinder< T, _nx, _nu, _np >::Vectornd

Constructor & Destructor Documentation

template<typename T , int _nx, int _nu, int _np>
gcop::Cylinder< T, _nx, _nu, _np >::Cylinder ( const Vector3d &  o,
double  r,
double  h,
double  cr = .5 
)

Member Function Documentation

template<typename T , int _nx, int _nu, int _np>
bool gcop::Cylinder< T, _nx, _nu, _np >::operator() ( Vectorgd g,
double  t,
const T &  x,
const Vectorcd u,
const Vectormd p = 0,
Matrixgxd dgdx = 0,
Matrixgud dgdu = 0,
Matrixgpd dgdp = 0 
)

Member Data Documentation

template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic>
double gcop::Cylinder< T, _nx, _nu, _np >::cr

collision radius

template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic>
double gcop::Cylinder< T, _nx, _nu, _np >::h

height

template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic>
Vector3d gcop::Cylinder< T, _nx, _nu, _np >::o

origin of base

template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic>
double gcop::Cylinder< T, _nx, _nu, _np >::r

radius


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