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modelmisc.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_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
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.