bvgl_articulated_poly Class Reference

#include <bvgl_articulated_poly.h>

List of all members.

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Detailed Description

Definition at line 18 of file bvgl_articulated_poly.h.

Public Member Functions
	bvgl_articulated_poly (const unsigned n_joints)
	bvgl_articulated_poly (const unsigned n_joints, vcl_vector< double > const &link_lengths)
	bvgl_articulated_poly (const bvgl_articulated_poly &poly)
	~bvgl_articulated_poly ()
vgl_h_matrix_2d< double >	joint_transform (unsigned joint) const
double	joint_angle (unsigned joint) const
	angle between joint and joint+1.
double	link_length (unsigned joint) const
	link from joint to joint+1.
vsol_point_2d_sptr	joint_position (const unsigned joint) const
void	transform (vcl_vector< double > const &delta_joint_angle)
	Transform the articulation.
void	sub_manifold_transform (const double t, vcl_vector< double > const &basis_angles)
void	print ()
	debug support.
void	print_xforms ()
Static Public Member Functions
static double	lie_distance (bvgl_articulated_poly const &ap1, bvgl_articulated_poly const &ap2)
	Compute the Lie distance between two articulations.
static bvgl_articulated_poly_sptr	projection (bvgl_articulated_poly_sptr const &target, vcl_vector< double > const &manifold_basis)
	Projection onto the sub manifold.
Private Member Functions
void	update ()
	called when the state of the polygon changes.
	bvgl_articulated_poly ()
Private Attributes
vcl_vector< vgl_h_matrix_2d< double > >	joint_transforms_
	the inverse joint transforms for the current state of the articulation.

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Constructor & Destructor Documentation

bvgl_articulated_poly::bvgl_articulated_poly (  const unsigned  n_joints  )

Definition at line 12 of file bvgl_articulated_poly.cxx.

bvgl_articulated_poly::bvgl_articulated_poly (  const unsigned  n_joints, vcl_vector< double > const &  link_lengths )

Definition at line 31 of file bvgl_articulated_poly.cxx.

bvgl_articulated_poly::bvgl_articulated_poly (  const bvgl_articulated_poly &  poly  )

Definition at line 51 of file bvgl_articulated_poly.cxx.

bvgl_articulated_poly::~bvgl_articulated_poly (   )  [inline]

Definition at line 24 of file bvgl_articulated_poly.h.

bvgl_articulated_poly::bvgl_articulated_poly (   )  [inline, private]

Definition at line 60 of file bvgl_articulated_poly.h.

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Member Function Documentation

double bvgl_articulated_poly::joint_angle (  unsigned  joint  )  const

angle between joint and joint+1. Definition at line 131 of file bvgl_articulated_poly.cxx.

vsol_point_2d_sptr bvgl_articulated_poly::joint_position (  const unsigned  joint  )  const

Definition at line 64 of file bvgl_articulated_poly.cxx.

vgl_h_matrix_2d<double> bvgl_articulated_poly::joint_transform (  unsigned  joint  )  const [inline]

Definition at line 26 of file bvgl_articulated_poly.h.

double bvgl_articulated_poly::lie_distance (  bvgl_articulated_poly const &  ap1, bvgl_articulated_poly const &  ap2 )  [static]

Compute the Lie distance between two articulations. Definition at line 149 of file bvgl_articulated_poly.cxx.

double bvgl_articulated_poly::link_length (  unsigned  joint  )  const

link from joint to joint+1. Definition at line 136 of file bvgl_articulated_poly.cxx.

void bvgl_articulated_poly::print (   )

debug support. Definition at line 169 of file bvgl_articulated_poly.cxx.

void bvgl_articulated_poly::print_xforms (   )

Definition at line 180 of file bvgl_articulated_poly.cxx.

bvgl_articulated_poly_sptr bvgl_articulated_poly::projection (  bvgl_articulated_poly_sptr const &  target, vcl_vector< double > const &  manifold_basis )  [static]

Projection onto the sub manifold. Definition at line 187 of file bvgl_articulated_poly.cxx.

void bvgl_articulated_poly::sub_manifold_transform (  const double  t, vcl_vector< double > const &  basis_angles )

Definition at line 109 of file bvgl_articulated_poly.cxx.

void bvgl_articulated_poly::transform (  vcl_vector< double > const &  delta_joint_angle  )

Transform the articulation. Definition at line 94 of file bvgl_articulated_poly.cxx.

void bvgl_articulated_poly::update (   )  [private]

called when the state of the polygon changes. Definition at line 82 of file bvgl_articulated_poly.cxx.

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Member Data Documentation

vcl_vector<vgl_h_matrix_2d<double> > bvgl_articulated_poly::joint_transforms_ [private]

the inverse joint transforms for the current state of the articulation. Definition at line 60 of file bvgl_articulated_poly.h.

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

• contrib/brl/bbas/bvgl/bvgl_articulated_poly.h
• contrib/brl/bbas/bvgl/bvgl_articulated_poly.cxx

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