gcop::KinRccar Class Reference

#include <kinrccar.h>

Inheritance diagram for gcop::KinRccar:

Collaboration diagram for gcop::KinRccar:

List of all members.

Public Member Functions
	KinRccar ()
double	Step (Matrix4d &xb, double t, const Matrix4d &xa, const Vector2d &u, double h, const VectorXd *p=0, Matrix6d *A=0, Matrix62d *B=0, Matrix< double, 6, Dynamic > *C=0)

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Detailed Description

A simple kinematic car model in SE(3).

Author: Matt Sheckells mshecke1(at)jhu.edu

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Constructor & Destructor Documentation

KinRccar::KinRccar

(

)

References gcop::Kinbody3d< 2 >::d.

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Member Function Documentation

double KinRccar::Step	(	Matrix4d &	xb,
		double	t,
		const Matrix4d &	xa,
		const Vector2d &	u,
		double	h,
		const VectorXd *	p = 0,
		Matrix6d *	A = 0,
		Matrix62d *	B = 0,
		Matrix< double, 6, Dynamic > *	C = 0
	)

References gcop::SE3::Ad(), gcop::SE3::cay(), gcop::Kinbody3d< 2 >::d, gcop::SE3::dcay(), and gcop::SE3::Instance().

Referenced by gcop::KinRccarPath::AddControl().

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

• lib/systems/kinrccar.h
• lib/systems/kinrccar.cc