00001 //---------------------------------------------------------------------- 00002 // The Motion Strategy Library (MSL) 00003 //---------------------------------------------------------------------- 00004 // 00005 // Copyright (c) University of Illinois and Steven M. 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 #include <string.h> 00020 00021 #include "MSL/MSL.h" 00022 00024 class Model3DRigidHelical: public Model3DRigid { 00025 public: 00026 Model3DRigidHelical(string path); 00027 virtual ~Model3DRigidHelical() {}; 00028 virtual MSLVector StateTransitionEquation(const MSLVector &x, 00029 const MSLVector &u); 00030 virtual MSLVector Integrate(const MSLVector &x, const MSLVector &u, 00031 const double &h); 00032 }; 00033 00034 00035 00036 00037