gcop::Kinbody2d Class Reference

#include <kinbody2d.h>

Inheritance diagram for gcop::Kinbody2d:

Collaboration diagram for gcop::Kinbody2d:

List of all members.

Public Member Functions
	Kinbody2d ()
double	Step (Matrix3d &xb, double t, const Matrix3d &xa, const Vector3d &u, double h, const VectorXd *p, Matrix3d *A=0, Matrix3d *B=0, Matrix< double, 3, Dynamic > *C=0)
Public Attributes
Vector2d	d
	body dimensions

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Detailed Description

A simple kinematic control system modeled as a rigid body in 2d. It is meant for parameter estimation problems since there is no dynamics.

Author: Marin Kobilarov marin(at)jhu.edu

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Constructor & Destructor Documentation

Kinbody2d::Kinbody2d

(

)

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Member Function Documentation

double Kinbody2d::Step	(	Matrix3d &	xb,
		double	t,
		const Matrix3d &	xa,
		const Vector3d &	u,
		double	h,
		const VectorXd *	p,
		Matrix3d *	A = 0,
		Matrix3d *	B = 0,
		Matrix< double, 3, Dynamic > *	C = 0
	)

References gcop::SE2::Ad(), gcop::SE2::cay(), gcop::SE2::dcay(), and gcop::SE2::Instance().

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Member Data Documentation

Vector2d gcop::Kinbody2d::d

body dimensions

Referenced by gcop::Kinbody2dView::Render().

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

• lib/systems/kinbody2d.h
• lib/systems/kinbody2d.cc