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scene.h

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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_SCENE_H
00020 #define MSL_SCENE_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 "problem.h"
00033 
00034 #include <LEDA/REDEFINE_NAMES.h>
00035 
00039 
00047 class Scene {
00048  protected:
00050   Problem *P;
00051 
00052  public:
00054   string FilePath;
00055 
00057   int GeomDim;
00058 
00060   int NumBodies;
00061 
00063   int SceneConfigurationDim;
00064 
00066   vector LowerWorld;
00067   
00069   vector UpperWorld;
00070 
00072   vector GlobalCameraPosition;
00073 
00075   vector GlobalCameraDirection;
00076 
00078   vector GlobalCameraZenith;
00079 
00081   vector AttachedCameraPosition;
00082 
00084   vector AttachedCameraDirection;
00085 
00087   vector AttachedCameraZenith;
00088 
00090   int AttachedCameraBody;
00091 
00093   Scene(Problem *problem, string path);
00094   
00096   virtual ~Scene() {};
00097 
00099   void SetProblem(Problem *P);
00100 
00102   virtual vector StateToSceneConfiguration(const vector &x);
00103 
00105   virtual vector InterpolatedSceneConfiguration(const vector &x1, 
00106                                                 const vector &x2, 
00107                                                 const double &a);
00108 };
00109 
00110 #include <LEDA/UNDEFINE_NAMES.h>
00111 
00112 #endif
Motion Strategy Library


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