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Scene Class Reference

An interface class that gives Problem information to Render. It tells the renderer how the "scene" appears for rendering purposes, as opposed to collision-detection purposes. More...

#include <scene.h>

List of all members.

Public Methods

 Scene (Problem *problem, string path)
 Scene must be initialized with the Problem that was passed to the planner.

virtual ~Scene ()
 Empty destructor.

void SetProblem (Problem *P)
 A method for changing the associated Problem.

virtual MSLVector StateToSceneConfiguration (const MSLVector &x)
 Convert the state into configurations for each body (a long MSLVector).

virtual MSLVector InterpolatedSceneConfiguration (const MSLVector &x1, const MSLVector &x2, const double &a)
 Interpolate the states; convert the result to a SceneConfiguratrion.


Public Attributes

string FilePath
 A common filepath.

int GeomDim
 The geometry dimension, 2 or 3.

int NumBodies
 The number of bodies in the scene.

int SceneConfigurationDim
 Total degrees of freedom of the scene.

MSLVector LowerWorld
 The smallest x,y,z world coordinates for the environment.

MSLVector UpperWorld
 The largest x,y,z world coordinated for the environment.

MSLVector GlobalCameraPosition
 The location of the default camera in x,y,z.

MSLVector GlobalCameraDirection
 The direction the default camera is pointing with respect to the model.

MSLVector GlobalCameraZenith
 The up direction of the default camera.

MSLVector AttachedCameraPosition
 The location of the body-attached camera in x,y,z.

MSLVector AttachedCameraDirection
 The direction the body-attached camera is pointing.

MSLVector AttachedCameraZenith
 The up direction of the body-attached camera.

int AttachedCameraBody
 The index of the body to which the camera is attached (default = 0).


Protected Attributes

ProblemP
 The Problem instance used by the planner/solver.


Detailed Description

An interface class that gives Problem information to Render. It tells the renderer how the "scene" appears for rendering purposes, as opposed to collision-detection purposes.

This is an interface class that computes configurations of all bodies to be displayed by a rendering method. Currently, configuration information is passed through an instance of Problem. Thus, the base class for Scene is simply a wrapper to Problem.


Constructor & Destructor Documentation

Scene::Scene ( Problem * problem,
string path )
 

Scene must be initialized with the Problem that was passed to the planner.

Scene::~Scene ( ) [inline, virtual]
 

Empty destructor.


Member Function Documentation

MSLVector Scene::InterpolatedSceneConfiguration ( const MSLVector & x1,
const MSLVector & x2,
const double & a ) [virtual]
 

Interpolate the states; convert the result to a SceneConfiguratrion.

void Scene::SetProblem ( Problem * P )
 

A method for changing the associated Problem.

MSLVector Scene::StateToSceneConfiguration ( const MSLVector & x ) [virtual]
 

Convert the state into configurations for each body (a long MSLVector).


Member Data Documentation

int Scene::AttachedCameraBody
 

The index of the body to which the camera is attached (default = 0).

MSLVector Scene::AttachedCameraDirection
 

The direction the body-attached camera is pointing.

MSLVector Scene::AttachedCameraPosition
 

The location of the body-attached camera in x,y,z.

MSLVector Scene::AttachedCameraZenith
 

The up direction of the body-attached camera.

string Scene::FilePath
 

A common filepath.

int Scene::GeomDim
 

The geometry dimension, 2 or 3.

MSLVector Scene::GlobalCameraDirection
 

The direction the default camera is pointing with respect to the model.

MSLVector Scene::GlobalCameraPosition
 

The location of the default camera in x,y,z.

MSLVector Scene::GlobalCameraZenith
 

The up direction of the default camera.

MSLVector Scene::LowerWorld
 

The smallest x,y,z world coordinates for the environment.

int Scene::NumBodies
 

The number of bodies in the scene.

Problem * Scene::P [protected]
 

The Problem instance used by the planner/solver.

int Scene::SceneConfigurationDim
 

Total degrees of freedom of the scene.

MSLVector Scene::UpperWorld
 

The largest x,y,z world coordinated for the environment.


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


Web page maintained by Steve LaValle
Partial support provided by NSF CAREER Award IRI-970228 (LaValle), Honda Research.
Contributors: Anna Atramentov, Peng Cheng, James Kuffner, Steve LaValle, and Libo Yang.