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_MODEL3D_H 00020 #define MSL_MODEL3D_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 00037 class Model3D: public Model { 00038 public: 00039 Model3D(string path); 00040 virtual ~Model3D() {} 00041 }; 00042 00043 00045 class Model3DRigid: public Model3D { 00046 public: 00047 Model3DRigid(string path); 00048 virtual ~Model3DRigid() {} 00049 virtual vector Integrate(const vector &x, const vector &u, const double &h); 00050 vector StateTransitionEquation(const vector &x, const vector &u); 00051 virtual double Metric(const vector &x1, const vector &x2); 00052 virtual vector LinearInterpolate(const vector &x1, const vector &x2, 00053 const double &a); // Depends on topology 00054 }; 00055 00056 00058 class Model3DRigidMulti: public Model3DRigid { 00059 public: 00060 int NumBodies; 00061 Model3DRigidMulti(string path); 00062 virtual ~Model3DRigidMulti() {} 00063 virtual double Metric(const vector &x1, const vector &x2); 00064 virtual vector LinearInterpolate(const vector &x1, const vector &x2, 00065 const double &a); // Depends on topology 00066 }; 00067 00068 00078 00079 class Model3DRigidChain: public Model3DRigid { 00080 public: 00082 int NumBodies; 00083 00085 vector DH; 00086 00087 array<int> StateIndices; 00088 00089 Model3DRigidChain(string path); 00090 virtual ~Model3DRigidChain() {}; 00091 virtual vector StateTransitionEquation(const vector &x, const vector &u); 00092 virtual vector StateToConfiguration(const vector &x); 00093 virtual vector LinearInterpolate(const vector &x1, const vector &x2, 00094 const double &a); 00095 virtual double Metric(const vector &x1, const vector &x2); 00096 virtual bool Satisfied(const vector &x); 00097 }; 00098 00099 00115 00116 class Model3DRigidTree: public Model3DRigid { 00117 public: 00119 int NumBodies; 00120 00122 vector DH; 00123 00124 array<int> StateIndices; 00125 00126 array<int> Parents; 00127 00128 Model3DRigidTree(string path); 00129 virtual ~Model3DRigidTree() {}; 00130 virtual vector StateTransitionEquation(const vector &x, const vector &u); 00131 virtual vector StateToConfiguration(const vector &x); 00132 virtual vector LinearInterpolate(const vector &x1, const vector &x2, 00133 const double &a); 00134 virtual double Metric(const vector &x1, const vector &x2); 00135 virtual bool Satisfied(const vector &x); 00136 }; 00137 00138 00139 #include <LEDA/UNDEFINE_NAMES.h> 00140 00141 #endif