#include <kinbody3d.h>
Inheritance diagram for gcop::Kinbody3d< _nu >:
Collaboration diagram for gcop::Kinbody3d< _nu >:
Public Types | |
| typedef Matrix< double, _nu, 1 > | Vectorud |
| typedef Matrix< double, 6, _nu > | Matrix6ud |
| typedef Matrix< double, 6, 6 > | Matrix6d |
Public Member Functions | |
| Kinbody3d () | |
| virtual double | Step (Matrix4d &xb, double t, const Matrix4d &xa, const Vectorud &u, double h, const VectorXd *p=0, Matrix6d *A=0, Matrix6ud *B=0, Matrix< double, 6, Dynamic > *C=0) |
Public Attributes | |
| Vector3d | d |
| body dimensions | |
| Matrix6ud | Bu |
Detailed Description
template<int _nu = 6>
class gcop::Kinbody3d< _nu >
A simple kinematic control system modeled as a rigid body in 3d. It is meant for parameter estimation problems since there is no dynamics.
Author: Matt Sheckells mshecke1(at)jhu.edu
Member Typedef Documentation
template<int _nu = 6>
| typedef Matrix<double, 6, 6> gcop::Kinbody3d< _nu >::Matrix6d |
template<int _nu = 6>
| typedef Matrix<double, 6, _nu> gcop::Kinbody3d< _nu >::Matrix6ud |
template<int _nu = 6>
| typedef Matrix<double, _nu, 1> gcop::Kinbody3d< _nu >::Vectorud |
Constructor & Destructor Documentation
template<int _nu>
| gcop::Kinbody3d< _nu >::Kinbody3d | ( | ) |
Member Function Documentation
template<int _nu>
| double gcop::Kinbody3d< _nu >::Step | ( | Matrix4d & | xb, |
| double | t, | ||
| const Matrix4d & | xa, | ||
| const Vectorud & | u, | ||
| double | h, | ||
| const VectorXd * | p = 0, |
||
| Matrix6d * | A = 0, |
||
| Matrix6ud * | B = 0, |
||
| Matrix< double, 6, Dynamic > * | C = 0 |
||
| ) | [virtual] |
References gcop::SE3::Ad(), gcop::SE3::cay(), gcop::SE3::dcay(), and gcop::SE3::Instance().
Member Data Documentation
template<int _nu = 6>
| Matrix6ud gcop::Kinbody3d< _nu >::Bu |
template<int _nu = 6>
| Vector3d gcop::Kinbody3d< _nu >::d |
body dimensions
Referenced by gcop::KinRccarPathCost::L().
The documentation for this class was generated from the following file:
- lib/systems/kinbody3d.h
