KrisLibrary  1.0.0
Public Member Functions | Public Attributes | List of all members
ReverseKinematicControlSpace Class Reference
Inheritance diagram for ReverseKinematicControlSpace:
ControlSpace

Public Member Functions

 ReverseKinematicControlSpace (KinematicControlSpace *space)
 
virtual std::shared_ptr< CSetGetControlSet (const Config &x)
 
virtual InterpolatorPtr Simulate (const State &x1, const ControlInput &u)
 
virtual void Successor (const State &x1, const ControlInput &u, State &x0)
 
virtual Math::VectorFieldFunctionSuccessorNumeric ()
 
- Public Member Functions inherited from ControlSpace
virtual std::string VariableName (int i)
 Returns an identifier for the i'th control variable.
 
virtual std::shared_ptr< CSetGetControlSet (const State &x)
 
virtual std::shared_ptr< SteeringFunctionGetSteeringFunction ()
 Returns this space's steering function, if available.
 
virtual void SampleControl (const State &x, ControlInput &u)
 
virtual bool IsValidControl (const State &x, const ControlInput &u)
 

Public Attributes

KinematicControlSpacespace
 
- Public Attributes inherited from ControlSpace
std::shared_ptr< CSetmyControlSet
 Dynamically overridable default control set (Note: state independent)
 
std::shared_ptr< SteeringFunctionmySteeringFunction
 Dynamically overridable default steering function.
 

Member Function Documentation

InterpolatorPtr ReverseKinematicControlSpace::Simulate ( const State x0,
const ControlInput u 
)
virtual

Executes the simulation function f(x0,u) and records its trace in p. The trace is an interpolator between x0 and the successor state

Implements ControlSpace.

void ReverseKinematicControlSpace::Successor ( const State x0,
const ControlInput u,
State x1 
)
virtual

Executes the simulation function x1 = f(x0,u). By default, uses the result from Simulate().

Reimplemented from ControlSpace.

Math::VectorFieldFunction * ReverseKinematicControlSpace::SuccessorNumeric ( )
virtual

If possible, express Successor as a VectorFieldFunction on the vector (x,u) (stacked)

Reimplemented from ControlSpace.


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