1 #ifndef ROBOT_INTERPOLATE_H 2 #define ROBOT_INTERPOLATE_H 12 void Interpolate(
Robot& robot,
const Config& x,
const Config& y,Real u,Config& out);
27 void Integrate(
Robot& robot,
const Config& q,
const Vector& dq,Config& b);
36 Real
Distance(
const Robot& robot,
const Config& a,
const Config& b,Real norm,Real floatingRotationWeight=1.0);
45 Real
Distance(
const Robot& robot,
const Config& a,
const Config& b,Real norm,
const vector<Real>& weights,Real floatingRotationWeight=1.0);
Real Distance(const Robot &robot, const Config &a, const Config &b, Real norm, Real floatingRotationWeight=1.0)
Returns the geodesic distance between a and b. Combines individual joint distances together via the L...
The main robot type used in RobotSim.
Definition: Robot.h:79
void InterpolateDerivative(Robot &robot, const Config &a, const Config &b, Vector &dq)
Returns the velocity vector at a that will move the robot from a to b in minimal time (i...
void Interpolate(Robot &robot, const Config &x, const Config &y, Real u, Config &out)
Interpolates between the two configurations in geodesic fashion on the robot's underlying configurati...
void Integrate(Robot &robot, const Config &q, const Vector &dq, Config &b)
Integrates a velocity vector dq from q to obtain the configuration b.
