00001 //---------------------------------------------------------------------- 00002 // The Motion Strategy Library (MSL) 00003 //---------------------------------------------------------------------- 00004 // 00005 // Copyright (c) 1998-2001 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 #include <LEDA/file.h> 00020 #include <LEDA/list.h> 00021 #include <LEDA/point.h> 00022 #include <LEDA/polygon.h> 00023 #include <LEDA/random.h> 00024 #include <LEDA/stream.h> 00025 #include <LEDA/string.h> 00026 #include <LEDA/vector.h> 00027 00028 #include <LEDA/REDEFINE_NAMES.h> 00029 00031 class Model3DRigidHelical: public Model3DRigid { 00032 public: 00033 Model3DRigidHelical(string path); 00034 virtual ~Model3DRigidHelical() {}; 00035 virtual vector StateTransitionEquation(const vector &x, const vector &u); 00036 virtual vector Integrate(const vector &x, const vector &u, 00037 const double &h); 00038 }; 00039 00040 00041 #include <LEDA/UNDEFINE_NAMES.h> 00042 00043 00044 00045