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geom.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_GEOM_H
00020 #define MSL_GEOM_H
00021 
00022 #include <LEDA/file.h>
00023 #include <LEDA/array.h>
00024 #include <LEDA/list.h>
00025 #include <LEDA/matrix.h>
00026 #include <LEDA/point.h>
00027 #include <LEDA/polygon.h>
00028 #include <LEDA/stream.h>
00029 #include <LEDA/string.h>
00030 #include <LEDA/vector.h>
00031 
00032 #include <LEDA/REDEFINE_NAMES.h>
00033 
00034 // The world places objects using configuration (model uses state).
00035 // Each derived class can define Obst and Robot however it likes.
00036 // Methods such as "GeomToPolygons" can give output in whatever 
00037 //  format is requested.  So far, only list<polygon> is shown,
00038 //  but we could imagine an OpenInventor model, Geomview model, etc.
00039 
00041 
00054 class Geom {
00055  protected:
00056   string FilePath;
00057  public:
00059   Geom(string path);
00060 
00062   virtual ~Geom() {};
00063 
00065   int NumBodies;
00066 
00068   int GeomDim;
00069 
00071   virtual bool CollisionFree(const vector &q) = 0; // Input is configuration
00072 
00075   virtual double DistanceComp(const vector &q) = 0;  // Distance in world
00076 
00078   virtual list<polygon> EnvironmentToLedaPolygons() = 0;
00079 
00081   virtual list<polygon> RobotToLedaPolygons(const vector &q) = 0;
00082 
00084   vector MaxDeviates;
00085 
00089   virtual vector ConfigurationDifference(const vector &q1, 
00090                                          const vector &q2); 
00091 };
00092 
00093 
00095 class GeomLedaPolygonal: public Geom {
00096  protected:
00097   list<polygon> Obst;
00098  public:
00099   GeomLedaPolygonal(string path);
00100   virtual ~GeomLedaPolygonal() {};
00101   virtual bool CollisionFree(const vector &q); // Input is configuration
00102   virtual double DistanceComp(const vector &q);  // Distance in world
00103   // These two functions enable a "frame" to be displayed in using
00104   // LEDA polygons, even if Obst and Robot are represented using
00105   // other (including 3D) primitives).
00106   virtual list<polygon> EnvironmentToLedaPolygons();
00107   virtual list<polygon> RobotToLedaPolygons(const vector &q);
00108   // Other methods could be added here that are similar to the two
00109   // above, but output the world in different formats, such 
00110   // as: Geomview file, Open Inventor file, GL primitives, etc.
00111 };
00112 
00113 
00115 class GeomLedaPolygonalRigid: public GeomLedaPolygonal {
00116  private:
00117   list<polygon> Robot;
00118  public:
00119   GeomLedaPolygonalRigid(string path);
00120   virtual ~GeomLedaPolygonalRigid() {};
00121   virtual bool CollisionFree(const vector &q); // Input is configuration
00122   virtual double DistanceComp(const vector &q);  // Distance in world
00123   virtual list<polygon> RobotToLedaPolygons(const vector &q);
00124   virtual vector ConfigurationDifference(const vector &q1, 
00125                                               const vector &q2); 
00126 };
00127 
00128 
00129 #include <LEDA/UNDEFINE_NAMES.h>
00130 
00131 #endif
Motion Strategy Library


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Partial support provided by NSF CAREER Award IRI-970228 (LaValle), Honda Research, and Iowa State University.
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