#include <disk.h>
Inheritance diagram for gcop::Disk< T, _nx, _nu, _np >:
Collaboration diagram for gcop::Disk< T, _nx, _nu, _np >:
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 | |
| Disk (const Vector2d &o, double r, 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 | |
| Vector2d | o |
| origin | |
| double | r |
| radius | |
| double | cr |
| collision radius | |
template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic>
class gcop::Disk< 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::Disk< T, _nx, _nu, _np >::Matrixgpd |
template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic>
| typedef Matrix<double, 1, _nu> gcop::Disk< T, _nx, _nu, _np >::Matrixgud |
template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic>
| typedef Matrix<double, 1, _nx> gcop::Disk< T, _nx, _nu, _np >::Matrixgxd |
template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic>
| typedef Matrix<double, _nu, 1> gcop::Disk< T, _nx, _nu, _np >::Vectorcd |
Reimplemented from gcop::Constraint< T, _nx, _nu, _np, 1 >.
template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic>
| typedef Matrix<double, 1, 1> gcop::Disk< T, _nx, _nu, _np >::Vectorgd |
Reimplemented from gcop::Constraint< T, _nx, _nu, _np, 1 >.
template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic>
| typedef Matrix<double, _np, 1> gcop::Disk< T, _nx, _nu, _np >::Vectormd |
Reimplemented from gcop::Constraint< T, _nx, _nu, _np, 1 >.
template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic>
| typedef Matrix<double, _nx, 1> gcop::Disk< T, _nx, _nu, _np >::Vectornd |
Reimplemented from gcop::Constraint< T, _nx, _nu, _np, 1 >.
Constructor & Destructor Documentation
template<typename T , int _nx, int _nu, int _np>
| gcop::Disk< T, _nx, _nu, _np >::Disk | ( | const Vector2d & | o, |
| double | r, | ||
| double | cr = .5 |
||
| ) |
Member Function Documentation
template<typename T , int _nx, int _nu, int _np>
| bool gcop::Disk< 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::Disk< T, _nx, _nu, _np >::cr |
collision radius
template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic>
| Vector2d gcop::Disk< T, _nx, _nu, _np >::o |
origin
template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic>
| double gcop::Disk< T, _nx, _nu, _np >::r |
radius
The documentation for this class was generated from the following file:
- lib/systems/constraints/disk.h
