bvgl_articulated_poly Class Reference

#include <bvgl_articulated_poly.h>

List of all members.

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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Detailed Description

Definition at line 18 of file bvgl_articulated_poly.h.

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Constructor & Destructor Documentation

bvgl_articulated_poly::bvgl_articulated_poly

(

const unsigned

n_joints

)

Definition at line 15 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 34 of file bvgl_articulated_poly.cxx.

bvgl_articulated_poly::bvgl_articulated_poly

(

const bvgl_articulated_poly &

poly

)

Definition at line 54 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 135 of file bvgl_articulated_poly.cxx.

vsol_point_2d_sptr bvgl_articulated_poly::joint_position

(

const unsigned

joint

)

const

Definition at line 68 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 153 of file bvgl_articulated_poly.cxx.

double bvgl_articulated_poly::link_length

(

unsigned

joint

)

const

link from joint to joint+1.

Definition at line 140 of file bvgl_articulated_poly.cxx.

void bvgl_articulated_poly::print

(

)

debug support.

Definition at line 172 of file bvgl_articulated_poly.cxx.

void bvgl_articulated_poly::print_xforms

(

)

Definition at line 183 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 190 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 113 of file bvgl_articulated_poly.cxx.

void bvgl_articulated_poly::transform

(

vcl_vector< double > const &

delta_joint_angle

)

Transform the articulation.

Definition at line 98 of file bvgl_articulated_poly.cxx.

void bvgl_articulated_poly::update

(

)

[private]

called when the state of the polygon changes.

Definition at line 86 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 62 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