00001 //---------------------------------------------------------------------- 00002 // The Motion Strategy Library (MSL) 00003 //---------------------------------------------------------------------- 00004 // 00005 // Copyright (c) 1998-2000 Iowa State University 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 // Iowa State University 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 <LEDA/file.h> 00023 #include <LEDA/list.h> 00024 #include <LEDA/matrix.h> 00025 #include <LEDA/point.h> 00026 #include <LEDA/polygon.h> 00027 #include <LEDA/random.h> 00028 #include <LEDA/stream.h> 00029 #include <LEDA/string.h> 00030 #include <LEDA/vector.h> 00031 00032 #include "model.h" 00033 00034 #include <LEDA/REDEFINE_NAMES.h> 00035 00036 00038 class Model1D: public Model { 00039 public: 00040 double Force; 00041 Model1D(string path); 00042 virtual ~Model1D() {}; 00043 virtual point StateToLedaPoint(const vector &x); 00044 virtual vector StateToConfiguration(const vector &x); 00045 virtual vector Integrate(const vector &x, const vector &u, const double &h); 00046 virtual vector StateTransitionEquation(const vector &x, const vector &u); 00047 virtual double Metric(const vector &x1, const vector &x2); 00048 }; 00049 00051 class ModelLinear: public Model { 00052 public: 00053 matrix A; 00054 matrix B; 00055 ModelLinear(string path); 00056 virtual ~ModelLinear() {}; 00057 virtual point StateToLedaPoint(const vector &x); 00058 virtual vector StateToConfiguration(const vector &x); 00059 virtual vector Integrate(const vector &x, const vector &u, const double &h); 00060 virtual vector StateTransitionEquation(const vector &x, const vector &u); 00061 }; 00062 00063 00065 class ModelND: public Model { 00066 public: 00067 double CorridorWidth; 00068 ModelND(string path); 00069 virtual ~ModelND() {}; 00070 virtual point StateToLedaPoint(const vector &x); 00071 virtual vector StateToConfiguration(const vector &x); 00072 virtual vector Integrate(const vector &x, const vector &u, const double &h); 00073 virtual vector StateTransitionEquation(const vector &x, const vector &u); 00074 //virtual bool Satisfied(const vector &x); 00075 }; 00076 00077 00079 class ModelNintegrator: public Model { 00080 public: 00081 double UBound; 00082 double VBound; 00083 ModelNintegrator(string path); 00084 virtual ~ModelNintegrator() {}; 00085 virtual point StateToLedaPoint(const vector &x); 00086 virtual vector StateToConfiguration(const vector &x); 00087 virtual vector Integrate(const vector &x, const vector &u, const double &h); 00088 virtual vector StateTransitionEquation(const vector &x, const vector &u); 00089 }; 00090 00091 00092 #include <LEDA/UNDEFINE_NAMES.h> 00093 00094 #endif