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Scene Class Reference

An interface class that gives Problem information to Render. It tells the renderer how the "scene" appears for rendering purposes, as opposed to collision-detection purposes. More...

#include <scene.h>

List of all members.

Public Methods

 Scene (Problem *problem, string path)
 Scene must be initialized with the Problem that was passed to the planner.

virtual ~Scene ()
 Empty destructor.

void SetProblem (Problem *P)
 A method for changing the associated Problem.

virtual vector StateToSceneConfiguration (const vector &x)
 Convert the state into configurations for each body (a long vector).

virtual vector InterpolatedSceneConfiguration (const vector &x1, const vector &x2, const double &a)
 Interpolate the states; convert the result to a SceneConfiguratrion.


Public Attributes

string FilePath
 A common filepath.

int GeomDim
 The geometry dimension, 2 or 3.

int NumBodies
 The number of bodies in the scene.

int SceneConfigurationDim
 Total degrees of freedom of the scene.

vector LowerWorld
 The smallest x,y,z world coordinates for the environment.

vector UpperWorld
 The largest x,y,z world coordinated for the environment.

vector GlobalCameraPosition
 The location of the default camera in x,y,z.

vector GlobalCameraDirection
 The direction the default camera is pointing with respect to the model.

vector GlobalCameraZenith
 The up direction of the default camera.

vector AttachedCameraPosition
 The location of the body-attached camera in x,y,z.

vector AttachedCameraDirection
 The direction the body-attached camera is pointing.

vector AttachedCameraZenith
 The up direction of the body-attached camera.

int AttachedCameraBody
 The index of the body to which the camera is attached (default = 0).


Protected Attributes

ProblemP
 The Problem instance used by the planner/solver.


Detailed Description

An interface class that gives Problem information to Render. It tells the renderer how the "scene" appears for rendering purposes, as opposed to collision-detection purposes.

This is an interface class that computes configurations of all bodies to be displayed by a rendering method. Currently, configuration information is passed through an instance of Problem. Thus, the base class for Scene is simply a wrapper to Problem.


Constructor & Destructor Documentation

Scene::Scene ( Problem * problem,
string path = "" )
 

Scene must be initialized with the Problem that was passed to the planner.

Scene::~Scene ( ) [inline, virtual]
 

Empty destructor.


Member Function Documentation

vector Scene::InterpolatedSceneConfiguration ( const vector & x1,
const vector & x2,
const double & a ) [virtual]
 

Interpolate the states; convert the result to a SceneConfiguratrion.

void Scene::SetProblem ( Problem * P )
 

A method for changing the associated Problem.

vector Scene::StateToSceneConfiguration ( const vector & x ) [virtual]
 

Convert the state into configurations for each body (a long vector).


Member Data Documentation

int Scene::AttachedCameraBody
 

The index of the body to which the camera is attached (default = 0).

vector Scene::AttachedCameraDirection
 

The direction the body-attached camera is pointing.

vector Scene::AttachedCameraPosition
 

The location of the body-attached camera in x,y,z.

vector Scene::AttachedCameraZenith
 

The up direction of the body-attached camera.

string Scene::FilePath
 

A common filepath.

int Scene::GeomDim
 

The geometry dimension, 2 or 3.

vector Scene::GlobalCameraDirection
 

The direction the default camera is pointing with respect to the model.

vector Scene::GlobalCameraPosition
 

The location of the default camera in x,y,z.

vector Scene::GlobalCameraZenith
 

The up direction of the default camera.

vector Scene::LowerWorld
 

The smallest x,y,z world coordinates for the environment.

int Scene::NumBodies
 

The number of bodies in the scene.

Problem * Scene::P [protected]
 

The Problem instance used by the planner/solver.

int Scene::SceneConfigurationDim
 

Total degrees of freedom of the scene.

vector Scene::UpperWorld
 

The largest x,y,z world coordinated for the environment.


The documentation for this class was generated from the following files: Motion Strategy Library


Web page maintained by Steve LaValle
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.