Main Page   Namespace List   Class Hierarchy   Compound List   File List   Compound Members   File Members  

modelmisc.h

Go to the documentation of this file.
00001 //----------------------------------------------------------------------
00002 //               The Motion Strategy Library (MSL)
00003 //----------------------------------------------------------------------
00004 //
00005 // Copyright (c) University of Illinois and Steve LaValle.  
00006 // All Rights Reserved.
00007 // 
00008 // Permission to use, copy, and distribute this software and its 
00009 // documentation is hereby granted free of charge, provided that 
00010 // (1) it is not a component of a commercial product, and 
00011 // (2) this notice appears in all copies of the software and
00012 //     related documentation. 
00013 // 
00014 // The University of Illinois and the author make no representations
00015 // about the suitability or fitness of this software for any purpose.  
00016 // It is provided "as is" without express or implied warranty.
00017 //----------------------------------------------------------------------
00018 
00019 #ifndef MSL_MODELMISC_H
00020 #define MSL_MODELMISC_H
00021 
00022 #include <string>
00023 using namespace std;
00024 
00025 
00026 #include "model.h"
00027 #include "vector.h"
00028 #include "matrix.h"
00029 
00031 class Model1D: public Model {
00032  public:
00033   double Force;
00034   Model1D(string path);
00035   virtual ~Model1D() {};
00036   virtual MSLVector StateToConfiguration(const MSLVector &x);
00037   virtual MSLVector Integrate(const MSLVector &x, const MSLVector &u, const double &h);
00038   virtual MSLVector StateTransitionEquation(const MSLVector &x, const MSLVector &u);
00039   virtual double Metric(const MSLVector &x1, const MSLVector &x2);
00040 };
00041 
00042 
00044 class ModelLinear: public Model {
00045  public:
00046   MSLMatrix A;
00047   MSLMatrix B;
00048   ModelLinear(string path);
00049   virtual ~ModelLinear() {};
00050   virtual MSLVector StateToConfiguration(const MSLVector &x);
00051   virtual MSLVector Integrate(const MSLVector &x, const MSLVector &u, 
00052                               const double &h);
00053   virtual MSLVector StateTransitionEquation(const MSLVector &x, 
00054                                             const MSLVector &u);
00055 };
00056 
00057 
00058 
00060 class ModelND: public Model {
00061  public:
00062   double CorridorWidth;
00063   ModelND(string path);
00064   virtual ~ModelND() {};
00065   virtual MSLVector StateToConfiguration(const MSLVector &x);
00066   virtual MSLVector Integrate(const MSLVector &x, const MSLVector &u, const double &h);
00067   virtual MSLVector StateTransitionEquation(const MSLVector &x, const MSLVector &u);
00068   //virtual bool Satisfied(const MSLVector &x);
00069 };
00070 
00071 
00073 class ModelNintegrator: public Model {
00074  public:
00075   double UBound;
00076   double VBound;
00077   ModelNintegrator(string path);
00078   virtual ~ModelNintegrator() {};
00079   virtual MSLVector StateToConfiguration(const MSLVector &x);
00080   virtual MSLVector Integrate(const MSLVector &x, const MSLVector &u, const double &h);
00081   virtual MSLVector StateTransitionEquation(const MSLVector &x, const MSLVector &u);
00082 };
00083 
00084 
00085 #endif
Motion Strategy Library


Web page maintained by Steve LaValle